Segmentation Fault when using a different planner in the pick & place demo

Description

When I modify the pick and [place demo by adding a new planner (nvidia cumotion planner), I hit a segmentation fault when the task that uses the cumotion planner is executed. This is not any error in the cumotion planner which returns a plan successfully but my move it task mtc node is not being able to read the message and causing an Address not mapped error.

Your environment

ROS Distro: Humble
OS Version: e.g. Ubuntu 22.04
Source or Binary build? Binary
If binary, which release version?
If source, which branch? Humble branch binary
Which RMW (Fast DDS or Cyclone DDS)? Fast DDS.

Steps to reproduce

Add a new planner in the code:

auto cumotion_sampling_planner = std::make_shared<solvers::PipelinePlanner>(node, "isaac_ros_cumotion");
    cumotion_sampling_planner->setProperty("goal_joint_tolerance", 1e-5);
...
/****************************************************
     *                                                  *
     *               Move to Pick                       *
     *                                                  *
     ***************************************************/
    {  // Move-to pre-grasp
        auto stage = std::make_unique<stages::Connect>(
            "move to pick", stages::Connect::GroupPlannerVector{ { params.arm_group_name, cumotion_sampling_planner } });
        stage->setTimeout(5.0);
        stage->properties().configureInitFrom(Stage::PARENT);
        // initial_state_ptr = stage.get();
        t.add(std::move(stage));
    }

Expected behaviour

The plan shou;ld be executed and shown in rviz

Actual behaviour

ctory
[pick_place_demo-1] [INFO] [1719169477.331862724] [moveit_task_constructor_demo]: Sending goal
[pick_place_demo-1] [INFO] [1719169477.341134866] [moveit_task_constructor_demo]: Goal accepted by server, waiting for result
[pick_place_demo-1] Stack trace (most recent call last) in thread 680136:
[pick_place_demo-1] #22   Object "", at 0xffffffffffffffff, in 
[pick_place_demo-1] #21   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fce84306a3f, in 
[pick_place_demo-1] #20   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fce84274ac2, in 
[pick_place_demo-1] #19   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fce84506252, in 
[pick_place_demo-1] #18   Object "/pick_place_demo", at 0x55a59a754a30, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<main::{lambda()#1}> > >::_M_run()
[pick_place_demo-1] #17   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fce8477ec3e, in rclcpp::spin(std::shared_ptr<rclcpp::Node>)
[pick_place_demo-1] #16   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fce8477eb44, in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)
[pick_place_demo-1] #15   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fce8477e920, in rclcpp::executors::SingleThreadedExecutor::spin()
[pick_place_demo-1] #14   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fce8477741c, in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
[pick_place_demo-1] #13   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fce8477734e, in rclcpp::Executor::get_next_ready_executable_from_map(rclcpp::AnyExecutable&, std::map<std::weak_ptr<rclcpp::CallbackGroup>, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::owner_less<std::weak_ptr<rclcpp::CallbackGroup> >, std::allocator<std::pair<std::weak_ptr<rclcpp::CallbackGroup> const, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface> > > > const&)
[pick_place_demo-1] #12   Object "/opt/ros/humble/lib/librclcpp_action.so", at 0x7fce83af051b, in rclcpp_action::ClientBase::take_data()
[pick_place_demo-1] #11   Object "/opt/ros/humble/lib/librcl_action.so", at 0x7fce83ad45bc, in rcl_action_take_result_response
[pick_place_demo-1] #10   Object "/opt/ros/humble/lib/librcl.so", at 0x7fce83ddea25, in rcl_take_response
[pick_place_demo-1] #9    Object "/opt/ros/humble/lib/librcl.so", at 0x7fce83dde76c, in rcl_take_response_with_info
[pick_place_demo-1] #8    Object "/opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so", at 0x7fce81527637, in rmw_fastrtps_shared_cpp::__rmw_take_response(char const*, rmw_client_s const*, rmw_service_info_s*, void*, bool*)
[pick_place_demo-1] #7    Object "/opt/ros/humble/lib/librmw_fastrtps_cpp.so", at 0x7fce81582bb8, in 
[pick_place_demo-1] #6    Object "/ros_ws/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c35bc2c, in moveit_msgs::action::typesupport_fastrtps_cpp::_MoveGroup_GetResult_Response__cdr_deserialize(eprosima::fastcdr::Cdr&, void*)
[pick_place_demo-1] #5    Object "ros_ws/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c35ba0b, in moveit_msgs::action::typesupport_fastrtps_cpp::cdr_deserialize(eprosima::fastcdr::Cdr&, moveit_msgs::action::MoveGroup_GetResult_Response_<std::allocator<void> >&)
[pick_place_demo-1] #4    Object "/ros_ws/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c35a598, in moveit_msgs::action::typesupport_fastrtps_cpp::cdr_deserialize(eprosima::fastcdr::Cdr&, moveit_msgs::action::MoveGroup_Result_<std::allocator<void> >&)
[pick_place_demo-1] #3    Object "os_ws/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c334aef, in moveit_msgs::msg::typesupport_fastrtps_cpp::cdr_deserialize(eprosima::fastcdr::Cdr&, moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >&)
[pick_place_demo-1] #2    Object "/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c30e6fa, in eprosima::fastcdr::Cdr::operator>>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)
[pick_place_demo-1] #1    Object "ros_ws/install/moveit_msgs/lib/libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so", at 0x7fce7c30b54b, in eprosima::fastcdr::Cdr::deserialize(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)
[pick_place_demo-1] #0    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fce84576569, in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::operator=(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&)
[pick_place_demo-1] Segmentation fault (Address not mapped to object [(nil)])
[ERROR] [pick_place_demo-1]: process has died [pid 680123, exit code -11, cmd '/pick_place_demo --ros-args --params-file _pick_and_place/config/panda_config.yaml --params-file /tmp/launch_params_c3kkiavu --params-file /tmp/launch_params_kranhjdb --params-file /tmp/launch_params_8w289rl6 --params-file /tmp/launch_params_9bwjxh9l --params-file /tmp/launch_params_jj6sut3w'].

Backtrace or Console output

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

moveit / moveit2