rviz2 Docking Panel plugin randomly crashes when system is under high load #4689
Description
Bug report
Required Info:
- Operating System: Ubuntu 24.04 inside Docker
- ROS2 Version: Rolling, built from source
- Version or commit hash: 771eca4
- DDS implementation: default
We've been experiencing a lot of random crashes while preparing the Gazebo Ionic demo that features Nav2 (see https://github.com/gazebosim/ionic_demo). It seems to be related to system load as it occurred more frequently when I was on a video call testing out the demo.
Steps to reproduce issue
- Run
stressto create high load on your machine. I didstress -c 16 -m 8on my laptop 16 cores, 32GB RAM ros2 launch nav2_bringup tb4_simulation_launch.py headless:=False- You might have to run this a few times depending on your system
Expected behavior
rviz2 runs without issues
Actual behavior
rviz will start and crash immediately.
The backtrace from a core dump points to DockingPanel
#0 0x0000790b703b9bdb in rclcpp::ParameterValue::get<(rclcpp::ParameterType)9> (this=0x20) at /usr/src/ros-rolling-rclcpp-28.3.3-1noble.20240729.171300/include/rclcpp/parameter_value.hpp:244
#1 rclcpp::Parameter::get_value<(rclcpp::ParameterType)9> (this=0x0) at /usr/src/ros-rolling-rclcpp-28.3.3-1noble.20240729.171300/include/rclcpp/parameter.hpp:119
#2 rclcpp::Parameter::as_string_array[abi:cxx11]() const (this=0x0) at /usr/src/ros-rolling-rclcpp-28.3.3-1noble.20240729.171300/src/rclcpp/parameter.cpp:141
#3 0x0000790b08d617dd in nav2_rviz_plugins::pluginLoader(std::shared_ptr<rclcpp::Node>, bool&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, QComboBox*) () at /root/ws/install/nav2_rviz_plugins/lib/libnav2_rviz_plugins.so
#4 0x0000790b08c8e2d3 in nav2_rviz_plugins::DockingPanel::timerEvent(QTimerEvent*) () at /root/ws/install/nav2_rviz_plugins/lib/libnav2_rviz_plugins.so
#5 0x0000790b707b924b in QObject::event(QEvent*) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#6 0x0000790b70b91d45 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#7 0x0000790b7078b118 in QCoreApplication::notifyInternal2(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#8 0x0000790b707e75ab in QTimerInfoList::activateTimers() () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#9 0x0000790b707e7f11 in ??? () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#10 0x0000790b6e88e5b5 in ??? () at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#11 0x0000790b6e8ed717 in ??? () at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#12 0x0000790b6e88da53 in g_main_context_iteration () at /lib/x86_64-linux-gnu/libglib-2.0.so.0
#13 0x0000790b707e8279 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#14 0x0000790b70789a7b in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#15 0x0000790b707923e8 in QCoreApplication::exec() () at /lib/x86_64-linux-gnu/libQt5Core.so.5
#16 0x000063239d56bc97 in main (argc=6, argv=0x7ffd9082f8c8) at /usr/src/ros-rolling-rviz2-14.2.5-1noble.20240820.020548/src/main.cpp:92
Additional information
The crash doesn't seem to happen if I disable use_composition.