RViz2 with Autoware configuration crashes on high DPI

[xmfcx]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

If the screen dpi is normal, which is generally xrandr --dpi 96 Autoware RViz2 will function correctly.

But because of some plugins, when the xrandr --dpi 200 is applied, the RViz2 keeps crashing and restarting.

Also this issue won't happen if you just run the RViz2 with Autoware config with (Autoware shouldn't run, only the rviz2 must be alive):

ros2 run rviz2 rviz2 -d /home/mfc/projects/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz -s /home/mfc/projects/autoware/install/autoware_launch/share/autoware_launch/rviz/image/autoware.png --ros-args -p use_sim_time:=true

But if you open the rest of the Autoware, it will crash with a [ros2run]: Segmentation fault.

Which plugin causes it, must be investigated.

Expected behavior

RViz2 runs correctly.

Actual behavior

RViz2 keeps crashing and restarting.

Steps to reproduce

xrandr --dpi 200

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Planning simulator tutorial detailed docs.

Versions

• OS: Ubuntu 22.04
• ROS 2: humble
• Autoware: main

Possible causes

Some handwritten Autoware plugins cannot cope with varying dpi.

Additional context

Related Issues & Discussions:

• https://github.com/autowarefoundation/autoware/issues/3173
• https://github.com/orgs/autowarefoundation/discussions/3474
• https://github.com/orgs/autowarefoundation/discussions/3121

[xmfcx]

Debugging steps:

• Turn off some Autoware plugins from RViz2 config utilizing a manual binary search pattern to find out which one is causing the issue.
• Isolate the problematic plugin.
• Look into its code and figure out why it happens.