Bug Report: bad_weak_ptr Exception in nav2_util::LifecycleNode::createBond() on Apple Silicon (M2) – ROS 2 Humble

Description

While using nav2_util::LifecycleNode::createBond() in ROS 2 Humble on Apple Silicon (M2), I encountered a bad_weak_ptr exception during lifecycle node activation (e.g., in map_server, amcl).

After investigation and debugging via LLDB, I found the cause was the use of std::make_unique<bond::Bond>(...), while the Bond class internally calls shared_from_this(). Since the object is not owned by a shared_ptr, this leads to a bad_weak_ptr when bond_->start() is called.

System Info

• Architecture: Apple Silicon M2
• ROS 2 Version: Humble
• Build Type: Source
• OS: macOS 14.5 (24F74)

Steps to Reproduce

1. Run any node using createBond() (e.g. map_server or amcl)
2. Perform lifecycle transitions (e.g., configure → activate)
3. Observe crash during activation: bad_weak_ptr

Backtrace / Logs

[map_server]: Caught exception in callback for transition 13
[map_server]: Original error: bad_weak_ptr
[WARN] [1751757540.736409772] [map_server]: Error occurred while doing error handling.
[FATAL] [1751757540.736417063] [map_server]: Lifecycle node map_server does not have error state implemented

Proposed Fix ✅

Change the member declaration in 'nav2_util::LifecycleNode'(#L207):

- std::unique_ptr<bond::Bond> bond_;
+ std::shared_ptr<bond::Bond> bond_;

Then, create the bond using 'std::make_shared' instead of 'std::make_unique' in lifecycle_node.cpp:

  bond_ = std::make_unique<bond::Bond>(
    std::string("bond"),
    this->get_name(),
    shared_from_this());

This resolves the 'bad_weak_ptr' exception during lifecycle node activation on Apple Silicon (M2), allowing nodes like 'map_server' and 'amcl' to activate correctly.

Side note:
On macOS, costmap plugins are not dynamically loaded automatically due to system library loading restrictions.
You need to manually set the following environment variable before launching Navigation2:

export DYLD_INSERT_LIBRARIES=$HOME/humble-ros2/install/nav2_costmap_2d/lib/liblayers.dylib

Without this, costmap plugins won’t load properly, which can lead to silent failures in costmap behavior.

Additional remark:
This plugin loading issue also affects MoveIt2 on macOS. Similar manual intervention with 'DYLD_INSERT_LIBRARIES' is required to ensure plugin libraries are properly loaded.

Output