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ros-controls / ros2_control

Generic and simple controls framework for ROS 2
https://control.ros.org
Apache License 2.0
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[CI] `TestLoadController.spawner_test_type_in_param` fails #1368

Closed christophfroehlich closed 4 weeks ago

christophfroehlich commented 7 months ago

TestLoadController.spawner_test_type_in_param fails sometimes on all platforms, e.g. RHEL 8

terminate called after throwing an instance of 'std::runtime_error' what(): Can not get command interface configuration until the controller is configured.

christophfroehlich commented 5 months ago

https://github.com/ros-controls/ros2_control_ci/actions/runs/8624783307/job/23640342421

     [INFO] [1712714483.939091611] [test_controller_manager]: Configuring controller 'ctrl_1'
Error: ROR] [1712714483.939150942] [test_controller_manager]: Controller 'ctrl_1' can not be configured from 'active' state.
Error: ROR] [1712714483.939950728] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][91mFailed to configure controller[NON-XML-CHAR-0x1B][0m
    [ros2run]: Process exited with failure 1
    [WARN] [1712714484.456973343] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1712714484.457826609] [test_controller_manager]: Configuring controller 'ctrl_1'
    [INFO] [1712714484.469631879] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][92mConfigured and activated [NON-XML-CHAR-0x1B][1mctrl_1[NON-XML-CHAR-0x1B][0m
    [INFO] [1712714484.629060102] [test_controller_manager]: Loading controller 'ctrl_1'
    [WARN] [1712714485.023405380] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1712714485.024392268] [test_controller_manager]: Configuring controller 'ctrl_1'
    terminate called without an active exception
    Stack trace (most recent call last) in thread 35803:
christophfroehlich commented 3 months ago

https://github.com/ros-controls/ros2_control/actions/runs/9122388125/job/25083111548

      [ RUN      ] TestLoadController.multi_ctrls_test_type_in_param
      ....
      terminate called after throwing an instance of 'std::runtime_error'
        what():  Can not get command interface configuration until the controller is configured.
      Stack trace (most recent call last) in thread 136196:
      #21   Object "", at 0xffffffffffffffff, in 
      #20   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff95909aa33, in __clone
      #19   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff95900da93, in 
      #18   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff95926dbb3, in 
      #17   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776cfce9, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}> > >::_M_run()
      #16   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776d0e21, in std::thread::_Invoker<std::tuple<ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}> >::operator()()
      #15   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776d10c5, in void std::thread::_Invoker<std::tuple<ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
      #14   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776d1289, in std::__invoke_result<ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}>::type std::__invoke<ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}>(ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}&&)
      #13   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776d13f8, in void std::__invoke_impl<void, ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}>(std::__invoke_other, ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}&&)
      #12   Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/test_spawner_unspawner", at 0x5633776c0188, in ControllerManagerFixture<controller_manager::ControllerManager>::startCmUpdater()::{lambda()#1}::operator()() const
      #11   Object "/__w/ros2_control/ros2_control/ros_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ff95b06c57c, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
      #10   Object "/__w/ros2_control/ros2_control/ros_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ff95b06b91c, in controller_manager::ControllerManager::manage_switch()
      #9    Object "/__w/ros2_control/ros2_control/ros_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ff95b0634af, in controller_manager::ControllerManager::activate_controllers_asap(std::vector<controller_manager::ControllerSpec, std::allocator<controller_manager::ControllerSpec> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >)
      #8    Object "/__w/ros2_control/ros2_control/ros_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7ff95b061d03, in controller_manager::ControllerManager::activate_controllers(std::vector<controller_manager::ControllerSpec, std::allocator<controller_manager::ControllerSpec> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >)
      #7    Object "/__w/ros2_control/ros2_control/ros_ws/build/controller_manager/libtest_controller.so", at 0x7ff9486ead57, in test_controller::TestController::command_interface_configuration() const
      #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff95923e127, in __cxa_throw
      #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff959228a48, in std::terminate()
      #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff95923de9b, in 
      #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff959228ffd, in 
      #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff958f998fe, in abort
      #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff958fb626d, in raise
      #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff95900fb1c, in pthread_kill
      Aborted (Signal sent by tkill() 135973 0)
christophfroehlich commented 2 months ago

on humble: https://github.com/ros-controls/ros2_control/actions/runs/9492449431/job/26159595988 https://github.com/ros-controls/ros2_control/actions/runs/10018638222/job/27694214352?pr=1628

     [ RUN      ] TestLoadController.multi_ctrls_test_type_in_param
    [WARN] [1718244222.122553027] [test_controller_manager]: 'update_rate' parameter not set, using default value.
    [INFO] [1718244222.122596458] [test_controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
    [INFO] [1718244222.122834393] [test_controller_manager]: Received robot description file.
    [INFO] [1718244222.122993570] [resource_manager]: Loading hardware 'TestActuatorHardware' 
    [INFO] [1718244222.123182082] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
    [INFO] [1718244222.123223129] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
    [INFO] [1718244222.123274224] [resource_manager]: Loading hardware 'TestSensorHardware' 
    [INFO] [1718244222.123426860] [resource_manager]: Initialize hardware 'TestSensorHardware' 
    [INFO] [1718244222.123458459] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
    [INFO] [1718244222.123483095] [resource_manager]: Loading hardware 'TestSystemHardware' 
    [INFO] [1718244222.123629739] [resource_manager]: Initialize hardware 'TestSystemHardware' 
    [INFO] [1718244222.123664574] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
    [INFO] [1718244222.123722221] [test_system]: Exporting configuration interfaces.
    [INFO] [1718244222.123817450] [resource_manager]: 'configure' hardware 'TestSystemHardware' 
    [INFO] [1718244222.123836505] [resource_manager]: Successful 'configure' of hardware 'TestSystemHardware'
    [INFO] [1718244222.123853777] [resource_manager]: 'activate' hardware 'TestSystemHardware' 
    [INFO] [1718244222.123862984] [resource_manager]: Successful 'activate' of hardware 'TestSystemHardware'
    [INFO] [1718244222.123878954] [resource_manager]: 'configure' hardware 'TestSensorHardware' 
    [INFO] [1718244222.123888372] [resource_manager]: Successful 'configure' of hardware 'TestSensorHardware'
    [INFO] [1718244222.123898411] [resource_manager]: 'activate' hardware 'TestSensorHardware' 
    [INFO] [1718244222.123906516] [resource_manager]: Successful 'activate' of hardware 'TestSensorHardware'
    [INFO] [1718244222.123920162] [resource_manager]: 'configure' hardware 'TestActuatorHardware' 
    [INFO] [1718244222.123929048] [resource_manager]: Successful 'configure' of hardware 'TestActuatorHardware'
    [INFO] [1718244222.123941651] [resource_manager]: 'activate' hardware 'TestActuatorHardware' 
    [INFO] [1718244222.123949927] [resource_manager]: Successful 'activate' of hardware 'TestActuatorHardware'
    [INFO] [1718244222.464920313] [test_controller_manager]: Loading controller 'ctrl_1'
    [INFO] [1718244222.498169092] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][94mLoaded [NON-XML-CHAR-0x1B][1mctrl_1[NON-XML-CHAR-0x1B][0m
    [INFO] [1718244222.498911735] [test_controller_manager]: Configuring controller 'ctrl_1'
    [INFO] [1718244222.516888507] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][92mConfigured and activated [NON-XML-CHAR-0x1B][1mctrl_1[NON-XML-CHAR-0x1B][0m
    [INFO] [1718244222.518263833] [test_controller_manager]: Loading controller 'ctrl_2'
    [INFO] [1718244222.527013887] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][94mLoaded [NON-XML-CHAR-0x1B][1mctrl_2[NON-XML-CHAR-0x1B][0m
    [INFO] [1718244222.527567532] [test_controller_manager]: Configuring controller 'ctrl_2'
    [INFO] [1718244222.539983627] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][92mConfigured and activated [NON-XML-CHAR-0x1B][1mctrl_2[NON-XML-CHAR-0x1B][0m
Error: ROR] [1718244222.678981328] [test_controller_manager]: ctrl_1
Error: ROR] [1718244222.679035339] [test_controller_manager]: ctrl_2
    [WARN] [1718244222.990117063] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1718244222.990821969] [test_controller_manager]: Configuring controller 'ctrl_1'
Error: ROR] [1718244222.990892791] [test_controller_manager]: Controller 'ctrl_1' can not be configured from 'active' state.
Error: ROR] [1718244222.991630589] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][91mFailed to configure controller[NON-XML-CHAR-0x1B][0m
    [ros2run]: Process exited with failure 1
    [WARN] [1718244223.447728390] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1718244223.448380058] [test_controller_manager]: Configuring controller 'ctrl_1'
    terminate called without an active exception
    Stack trace (most recent call last) in thread 16176:
    #31   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6ad6b, in std::thread::_Invoker<std::tuple<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*> >::operator()()
    #30   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6b0a2, in void std::thread::_Invoker<std::tuple<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*> >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>)
    #29   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6b352, in std::__invoke_result<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>::type std::__invoke<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>(void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*&&)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*&&)
    #28   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6b4f0, in void std::__invoke_impl<void, void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>(std::__invoke_memfun_deref, void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*&&)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*&&)
    #27   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca678a5, in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::_M_run()
    #26   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca56c02, in std::__future_base::_State_baseV2::_M_set_result(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>, bool)
    #25   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca592a6, in void std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #24   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca4d7d5, in __gthread_once(int*, void (*)())
    #23   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c23a63ee7, in 
    #22   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca5c79b, in std::once_flag::_Prepare_execution::_Prepare_execution<std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}>(void (std::__future_base::_State_baseV2::*&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*))::{lambda()#1}::_FUN()
    #21   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca5c786, in std::once_flag::_Prepare_execution::_Prepare_execution<std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}>(void (std::__future_base::_State_baseV2::*&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*))::{lambda()#1}::operator()() const
    #20   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca59221, in std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}::operator()() const
    #19   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca5c756, in std::__invoke_result<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>::type std::__invoke<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #18   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca5f68e, in void std::__invoke_impl<void, void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::__invoke_memfun_deref, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #17   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca56e2f, in std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*)
    #16   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca59493, in std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>::operator()() const
    #15   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca68347, in std::_Function_handler<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> (), std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void> >::_M_invoke(std::_Any_data const&)
    #14   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca685f4, in std::enable_if<is_invocable_r_v<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>, std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> >::type std::__invoke_r<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>(std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&)
    #13   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6882c, in std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter> std::__invoke_impl<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>(std::__invoke_other, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&)
    #12   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca68995, in std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::operator()() const
    #11   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca68cf3, in std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >::operator()()
    #10   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca68fd7, in void std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
    #9    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca6919d, in std::__invoke_result<TestLoadController::SetUp()::{lambda()#2}>::type std::__invoke<TestLoadController::SetUp()::{lambda()#2}>(TestLoadController::SetUp()::{lambda()#2}&&)
    #8    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca69359, in void std::__invoke_impl<void, TestLoadController::SetUp()::{lambda()#2}>(std::__invoke_other, TestLoadController::SetUp()::{lambda()#2}&&)
    #7    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x55d46ca57d0d, in TestLoadController::SetUp()::{lambda()#2}::operator()() const
    #6    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2c240f8863, in rclcpp::executors::MultiThreadedExecutor::spin()
    #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f2c23ca1276, in std::terminate()
    #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f2c23ca120b, in 
    #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f2c23c95b9d, in 
    #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c239f27f2, in abort
    #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c23a0c475, in raise
    #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c23a609fc, in pthread_kill
    Aborted (Signal sent by tkill() 16029 0)