Segfault on Ctrl-C

[mjforan]

Describe the bug
Killing a ros2_control launch with Ctl-C causes a segfault and cleanup methods like on_deactivate do not run.

To Reproduce

git clone https://github.com/ros-controls/ros2_control_demos.git
cd ros2_control_demos
docker build . -f Dockerfile/Dockerfile -t ros2_control_demos --build-arg ROS_DISTRO=jazzy
docker run --rm -it ros2_control_demos bash
. install/setup.bash
ros2 launch ros2_control_demo_example_1 rrbot.launch.py

wait for everything to initialize...
Ctrl-C

Expected behavior
Clean shutdown

Screenshots

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1737557728.284547701] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1737557728.284551321] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] Stack trace (most recent call last):
[ros2_control_node-1] #7    Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
[ros2_control_node-1] #6    Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x64e5c5265c94, in _start
[ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71a0f848f28a, in __libc_start_main
[ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71a0f848f1c9, in 
[ros2_control_node-1] #3    Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x64e5c5264ce2, in main
[ros2_control_node-1] #2    Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x64e5c5265eb2, in 
[ros2_control_node-1] #1    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x71a0f8a596b9, in rclcpp::Executor::~Executor()
[ros2_control_node-1] #0    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x71a0f8a52e51, in 
[ros2_control_node-1] Segmentation fault (Address not mapped to object [0x71a0f45fd020])

Environment (please complete the following information):

• OS: [Ubuntu 24.04]
• Version [Jazzy]

[christophfroehlich]

Thanks for reporting this. I thought that I had reported that already, but can't find any similar issues now.

I saw that in the tests, that's why I have deactivated the return code check
https://github.com/ros-controls/ros2_control_demos/blob/master/example_1/test/test_rrbot_launch.py#L149

[christophfroehlich]

ros-controls/ros2_control_demos#548

[mjforan]

To be clear, this is not only an issue with the demos. I see this new behavior on my own hardware interfaces as well.

[christophfroehlich]

Sure, but I saw that with the tests/demos already -> we can reproduce it and work on that.

[christophfroehlich]

@saikishor Interestingly, we don't see this in the test here in this repo.

[saikishor]

@saikishor Interestingly, we don't see this in the test here in this repo.

That's weird. If it can be easily reproducable, then should be easy to fix

[mjforan]

I was working in a slightly older container and got a different result on ctrl-c. Maybe this will help guide your debugging:

[ros2_control_node-2] /opt/ros/jazzy/lib/controller_manager/ros2_control_node: symbol lookup error: /opt/ros/jazzy/lib/libdiff_drive_controller.so: undefined symbol: _ZN20controller_interface23ControllerInterfaceBaseD2Ev

And here are some relevant software versions:

ros-jazzy-controller-interface/now 4.21.0-1noble.20241228.025831 arm64 [installed,local]
ros-jazzy-controller-manager/now 4.21.0-1noble.20241228.041458 arm64 [installed,local]
ros-jazzy-diff-drive-controller/now 4.19.0-1noble.20250115.225929 arm64 [installed,local]

[saikishor]

Nothing has been done to fix this in the last releases. I doubt that this is fixed.

Thanks. I'll check it out.

[saikishor]

Hello @mjforan!

This PR : #2014 should fix the issue you are facing. It would be great, if you can try it out and If it works, please approve the PR.

Thank you!