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ROS 2 Navigation Framework and System
https://nav2.org/
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NullPtr bug during the `computeVelocityCommands()` calculation of `nav2_regulated_pure_pursuit_controller` #4438

Closed GoesM closed 2 weeks ago

GoesM commented 2 weeks ago

Bug report

Required Info:

Steps to reproduce issue

The bug occurs during normal use of nav2_regulated_pure_pursuit_controller. By changing the controller plugin while keeping the rest of the configuration the same as the official default, start navigation2. The YAML configuration for changing the controller plugin is:

controller_server:
  ros__parameters:
    FollowPath:
      allow_reversing: false
      angular_dist_threshold: 0.785
      approach_velocity_scaling_dist: 0.6
      curvature_lookahead_dist: 0.25
      desired_linear_vel: 0.5
      forward_sampling_distance: 0.5
      lookahead_dist: 0.6
      lookahead_time: 1.5
      max_allowed_time_to_collision_up_to_carrot: 1.0
      max_angular_accel: 3.2
      max_lookahead_dist: 0.9
      max_robot_pose_search_dist: 10.0
      min_approach_linear_velocity: 0.05
      min_lookahead_dist: 0.3
      plugin: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
      primary_controller: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
      regulated_linear_scaling_min_radius: 0.9
      regulated_linear_scaling_min_speed: 0.25
      rotate_to_heading_angular_vel: 1.8
      rotate_to_heading_min_angle: 0.785
      simulate_ahead_time: 1.0
      transform_tolerance: 0.1
      use_collision_detection: true
      use_cost_regulated_linear_velocity_scaling: false
      use_fixed_curvature_lookahead: false
      use_regulated_linear_velocity_scaling: true
      use_rotate_to_heading: true
      use_velocity_scaled_lookahead_dist: false
    controller_frequency: 20.0
    controller_plugins:
      - FollowPath
    failure_tolerance: 0.3
    general_goal_checker:
      plugin: nav2_controller::SimpleGoalChecker
      stateful: true
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    goal_checker_plugins:
      - general_goal_checker
    min_theta_velocity_threshold: 0.001
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    progress_checker:
      movement_time_allowance: 10.0
      plugin: nav2_controller::SimpleProgressChecker
      required_movement_radius: 0.5
    progress_checker_plugin: progress_checker
    use_sim_time: true

Expected behavior

no NullPtr bug occured.

Actual behavior

the Asan report of this NullPtr bug is as following:

 =================================================================
==233695==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000048 (pc 0x7921c234d274 bp 0x7921b61f7350 sp 0x7921b61f5180 T21)
==233695==The signal is caused by a READ memory access.
==233695==Hint: address points to the zero page.
    #0 0x7921c234d274 in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::computeVelocityCommands(geometry_msgs::msg::PoseStamped_<std::allocator<void> > const&, geometry_msgs::msg::Twist_<std::allocator<void> > const&, nav2_core::GoalChecker*) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_regulated_pure_pursuit_controller/lib/libnav2_regulated_pure_pursuit_controller.so+0x2f274) (BuildId: 3f539e9aa39466e316d1635ef580e10b3da1c726)
    #1 0x7921c58a506b in nav2_controller::ControllerServer::computeAndPublishVelocity() (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x2a506b) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #2 0x7921c5896561 in nav2_controller::ControllerServer::computeControl() (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x296561) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #3 0x7921c5a1eec3 in nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::work() (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41eec3) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #4 0x7921c5a1e234 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<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>::operator()() const (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41e234) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #5 0x7921c5a1df47 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<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, 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<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, 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<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41df47) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #6 0x7921c5a1dd88 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<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void> >::_M_invoke(std::_Any_data const&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41dd88) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #7 0x7921c6ef5b46 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*) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_util/lib/libnav2_util_core.so+0x7fb46) (BuildId: 074014a12aa30b6de43159e7eb335b66f35e5343)
    #8 0x7921c4c99ee7 in __pthread_once_slow nptl/./nptl/pthread_once.c:116:7
    #9 0x7921c5a1b951 in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>::_M_run() (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41b951) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #10 0x7921c50dc252  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc252) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
    #11 0x7921c4c94ac2 in start_thread nptl/./nptl/pthread_create.c:442:8
    #12 0x7921c4d2684f  misc/../sysdeps/unix/sysv/linux/x86_64/clone3.S:81

AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_regulated_pure_pursuit_controller/lib/libnav2_regulated_pure_pursuit_controller.so+0x2f274) (BuildId: 3f539e9aa39466e316d1635ef580e10b3da1c726) in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::computeVelocityCommands(geometry_msgs::msg::PoseStamped_<std::allocator<void> > const&, geometry_msgs::msg::Twist_<std::allocator<void> > const&, nav2_core::GoalChecker*)
Thread T21 created by T15 here:
    #0 0x6544de1b987c in __interceptor_pthread_create (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/nav2_controller/controller_server+0x9387c) (BuildId: 3220191749087a73a7eee69dd741a727d5302202)
    #1 0x7921c50dc328 in std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc328) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
    #2 0x7921c5a1b2b2 in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>::_Async_state_impl<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()>(nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()&&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41b2b2) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #3 0x7921c5a1aa58 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>, std::allocator<void>, nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()>(std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()> >, void>*&, std::_Sp_alloc_shared_tag<std::allocator<void> >, nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()&&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x41aa58) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #4 0x7921c5a18d03 in std::future<std::__invoke_result<std::decay<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()>::type>::type> std::async<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()>(std::launch, nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >)::'lambda'()&&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x418d03) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #5 0x7921c5a01e29 in nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x401e29) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #6 0x7921c5a22ac7 in void std::__invoke_impl<void, void (nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >), nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> > >(std::__invoke_memfun_deref, void (nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >), nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::FollowPath> >&&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x422ac7) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #7 0x7921c5a09986 in rclcpp_action::Server<nav2_msgs::action::FollowPath>::call_goal_accepted_callback(std::shared_ptr<rcl_action_goal_handle_s>, std::array<unsigned char, 16ul>, std::shared_ptr<void>) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x409986) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #8 0x7921c6bf9246 in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr<void>&) (/opt/ros/humble/lib/librclcpp_action.so+0x13246) (BuildId: 4dfcc4cee7010878193255b3a622d5194654caa8)

Thread T15 created by T0 here:
    #0 0x6544de1b987c in __interceptor_pthread_create (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/nav2_controller/controller_server+0x9387c) (BuildId: 3220191749087a73a7eee69dd741a727d5302202)
    #1 0x7921c50dc328 in std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc328) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
    #2 0x7921c59fb2a5 in nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>::SimpleActionServer<std::shared_ptr<nav2_util::LifecycleNode> >(std::shared_ptr<nav2_util::LifecycleNode>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void ()>, std::function<void ()>, std::chrono::duration<long, std::ratio<1l, 1000l> >, bool, rcl_action_server_options_s const&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x3fb2a5) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #3 0x7921c5894cc8 in std::__detail::_MakeUniq<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath> >::__single_object std::make_unique<nav2_util::SimpleActionServer<nav2_msgs::action::FollowPath>, std::shared_ptr<nav2_util::LifecycleNode>, char const (&) [12], std::_Bind<void (nav2_controller::ControllerServer::* (nav2_controller::ControllerServer*))()>, std::nullptr_t, std::chrono::duration<long, std::ratio<1l, 1000l> >, bool>(std::shared_ptr<nav2_util::LifecycleNode>&&, char const (&) [12], std::_Bind<void (nav2_controller::ControllerServer::* (nav2_controller::ControllerServer*))()>&&, std::nullptr_t&&, std::chrono::duration<long, std::ratio<1l, 1000l> >&&, bool&&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x294cc8) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #4 0x7921c588a121 in nav2_controller::ControllerServer::on_configure(rclcpp_lifecycle::State const&) (/home/goes/ROS_Workstation/nav2_humble_experiment/install/nav2_controller/lib/libcontroller_server_core.so+0x28a121) (BuildId: f6be86e576eea5a4c9c0de506e472b69f7a05ca9)
    #5 0x7921c69f68ec  (/opt/ros/humble/lib/librclcpp_lifecycle.so+0x288ec) (BuildId: 97f6428dc1ee45fd402b522b3b8e6b4fcfeabe76)

==233695==ABORTING

Additional information

I think this issue could be regarded as an additonal ticket for #4436 , which behaves within different plugins of controller

padhupradheep commented 2 weeks ago

I think this issue could be regarded as an additonal ticket for https://github.com/ros-navigation/navigation2/issues/4436 , which behaves within different plugins of controller

Agreed! Then let's close this issue. I'll leave note there about this as well.