nav2_bringup tb3_simulation_launch.py crashes randomly during execution

[rightbot-abhinav]

Bug report

Required Info:

• Operating System:

  • Ubuntu 18.04

• ROS2 Version:

  • Foxy source

• Version or commit hash:

• DDS implementation:

  • PLATFORM INFORMATION
    system : Linux
    platform info : Linux-4.9.140-tegra-aarch64-with-Ubuntu-18.04-bionic
    release : 4.9.140-tegra
    processor : aarch64

  RMW MIDDLEWARE
  middleware name : rmw_fastrtps_cpp

  ROS 2 INFORMATION
  distribution name : foxy
  distribution type : ros2
  distribution status : active
  release platforms : {'ubuntu': ['focal']}

  ROS 2 INFORMATION
  distribution name : foxy
  distribution type : ros2
  distribution status : active
  release platforms : {'ubuntu': ['focal']}

gazebo version 11 installed from binary

Steps to reproduce issue

ros2 launch nav2_bringup tb3_simulation_launch.py
set pose estimation
set way point (in the gui) and it crashes randomly at different instances

Expected behavior

nav2bringup should not crash randomly after setting waypoint or pose estimation

Actual behavior

ros2 launch nav2_bringup tb3_simulation_launch.py
should not crash randomly when running like putting a waypoint

[rightbot-abhinav]

Tried changing the DDS middleware to cyclone issue does not pop up for now. @SteveMacenski

[SteveMacenski]

[ERROR] [rviz2-4]: process has died [pid 13228, exit code -11, cmd '/home/warry/ros2_foxy/install/rviz2/lib/rviz2/rviz2 -d /home/warry/navigation2_ws/install/nav2_bringup/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2'].

This is an rviz error, your rviz session crashed bringing everything else down. This is not a navigation2 issue. Please file a ticket with any additional debug information (e.g. backtrace) to rviz2 itself.

But generally speaking, you solution of cyclone is a good one. Fast-DDS has a number of issues. If that resolves your issue, then that's a fine enough solution.

[JaimeMartin]

Hi @SteveMacenski ,

Actually this user is reporting also crashes also with Cyclone DDS in navigation2 for example:

#1955

As this is totally random and the stack trace does not show any hint that Fast DDS is failing, but rviz, I don't think you can assign the issue to Fast DDS.

[rightbot-abhinav]

@JaimeMartin the issue I raised earlier #1955 was initially with fastrtps I changed to cyclonedds the crashing issue was solved. Currently I am facing separate other issues which dont make the stack crash but it generates weird behavior as I mentioned in #1955 . Also as @SteveMacenski rightly mentioned me changing names and raising issues wont solve hence I am trying to build a local stable stack for the officially not supported OS 18.04

[rightbot-abhinav]

@JaimeMartin Created a different setup on Focal. The same issue occurs everything after a few mins of the launch. Changing to cyclonedds saves from crashing

[rsanchez15]

Hi @rightbot-abhinav,

I've been running some tests in the scenario you describe in the issue with Ubuntu Focal (ROS 2 Foxy Tier 1 platform), and I haven't been able to reproduce the problem you mention with Fast DDS as the ROS 2 middleware implementation.

To replicate your scenario I have followed the following steps.

• Installation:
  • ROS 2 Foxy from sources using the ros2.repos file updated in commit ros2/ros2@2a98a56.
  • navigation2 from binaries (latest stable version installed via apt).
  • TurtleBot3 from sources.
• Launch:
  • Fast DDS: RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 launch nav2_bringup tb3_simulation_launch.py
  • Cyclone DDS: RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 launch nav2_bringup tb3_simulation_launch.py
• Execution:
  • Set 2D Pose Estimation
  • Set Navigation2 Goal
• Duration of execution: ~1 hour.

It is true that I've found some navigation related error traces that occur using any of the DDS implementations, both with Fast DDS and Cyclone DDS, which indicates that the problem is not related to the middleware, as @JaimeMartin stated before. In any case, the execution of the program is never interrupted.