Process crashes when constructing an action_server from a sub_node #1798
Description
Bug report
- Operating System: Ubuntu 20.04.3 LTS
- Installation type: binaries
- Version or commit hash: foxy
- DDS implementation: default
- Client library (if applicable): rclcpp
Steps to reproduce issue
I've attached a zip file that contains a full project to demonstrate the issue. Here's the synopsis. When I create an action server with a rclcpp::Node object that is created from create_sub_node, the process crashes. Comment out the #define WORKS_FINE to reproduce.
#define WORKS_FINE
struct Foo
{
using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
Foo(rclcpp::Node::SharedPtr parent_node)
{
#ifdef WORKS_FINE
(void) parent_node;
_node = rclcpp::Node::make_shared("foo");
#else
_node = parent_node->create_sub_node("foo");
#endif
_action_server = rclcpp_action::create_server<Fibonacci>(
_node,
"fibonacci",
std::bind(&Foo::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&Foo::handle_cancel, this, std::placeholders::_1),
std::bind(&Foo::handle_accepted, this, std::placeholders::_1));
};
rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Fibonacci::Goal> goal)
{
(void) uuid;
(void) goal;
return rclcpp_action::GoalResponse::REJECT;
}
rclcpp_action::CancelResponse handle_cancel(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
(void) goal_handle;
return rclcpp_action::CancelResponse::REJECT;
}
void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
(void) goal_handle;
}
rclcpp::Node::SharedPtr _node;
rclcpp_action::Server<Fibonacci>::SharedPtr _action_server;
};
struct Bar
{
Bar()
{
_node = rclcpp::Node::make_shared("bar");
_foo = std::make_unique<Foo>(_node);
};
rclcpp::Node::SharedPtr _node;
std::unique_ptr<Foo> _foo;
};Expected behavior
Same behavior whether using a rclcpp::Node created from make_shared or create_sub_node.
Actual behavior
When constructing the action server from a node created from make_shared, the process runs normally.
When constructing the action server from the node created from create_sub_node:
# ros2 launch construct_action_server foobar_launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-10-11-20-27-30-521763-bbdd3c2e77a7-5122
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [foobar-1]: process started with pid [5124]
[ERROR] [foobar-1]: process has died [pid 5124, exit code -11, cmd '/root/install/construct_action_server/lib/construct_action_server/foobar --ros-args -r __ns:=/'].