Bug: rclcpp lifecycle node crashes when using mulithreaded executor and callback groups - Githubissues

ros2 / demos

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Bug: rclcpp lifecycle node crashes when using mulithreaded executor and callback groups #654

Closed vinaym815 closed 10 months ago

vinaym815 commented 10 months ago

Bug report

Required Info:

Operating System:
- Ubuntu 22.04
Installation type:
- binaries
Version or commit hash:
- f258b8182c7ad680c8cceba38eac72e01fdb0a3c
Client library (if applicable):
- rclcpp

Steps to reproduce issue

Build the lifecycle talker available at the URL
Make the configure and cleanup transition a few times

Expected behavior

Node should not crash

Actual behavior

Transitioning the lifecycle node through configure and cleanup crashes the node arbitirarily.

Additional information

The following changes have been made to the lifecycle_talker.cpp

Added a callback group for timer
Changed the single threaded executor to multithreaded executor.

Screenshot_2023-10-11_13-58-14

vinaym815 commented 10 months ago

Changing the RWM implementation to cyclone DDS solves it.