[ROS2/foxy]Segmentation Fault when trying to topic Re-Publisher

[galAcarteav]

Hey, First of all, thank you for a great repo. I build from source, everything looks fine except the ROS2 Topic Re-Publisher feature, when Im clicking on the check box the app is crash: Stack trace (most recent call last): #31 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f2e607a7564, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag) #30 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f2e5f6fc4a2, in g_main_context_iteration #29 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f2e5f6fc3ff, in #28 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f2e5f6fc17c, in g_main_context_dispatch #27 Object "/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5", at 0x7f2e5c0ee32d, in #26 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7f2e60b1435a, in QWindowSystemInterface::sendWindowSystemEvents(QFlagsQEventLoop::ProcessEventsFlag) #25 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7f2e60b3a10a, in QGuiApplicationPrivate::processWindowSystemEvent(QWindowSystemInterfacePrivate::WindowSystemEvent*) #24 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7f2e60b387d2, in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*) #23 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f2e6074f939, in QCoreApplication::notifyInternal2(QObject*, QEvent*) #22 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e6117a0ef, in QApplication::notify(QObject*, QEvent*) #21 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61170a65, in QApplicationPrivate::notify_helper(QObject*, QEvent*) #20 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e611d21eb, in #19 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e611cf35c, in #18 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61179456, in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool) #17 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f2e6074f939, in QCoreApplication::notifyInternal2(QObject*, QEvent*) #16 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e6117a342, in QApplication::notify(QObject*, QEvent*) #15 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61170a65, in QApplicationPrivate::notify_helper(QObject*, QEvent*) #14 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e611b32b5, in QWidget::event(QEvent*) #13 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61267034, in QAbstractButton::mouseReleaseEvent(QMouseEvent*) #12 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61266e0f, in #11 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61276914, in QCheckBox::nextCheckState() #10 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e612672fc, in QAbstractButton::setChecked(bool) #9 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61265ca5, in #8 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2e61265865, in QAbstractButton::toggled(bool) #7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f2e6077b457, in QMetaObject::activate(QObject*, int, int, void**) #6 Object "/home/gal/libs/ws_plotjuggler/install/plotjuggler_ros/lib/plotjuggler_ros/libTopicPublisherROS2.so", at 0x7f2e3e975640, in TopicPublisherROS2::setEnabled(bool) #5 Object "/home/gal/libs/ws_plotjuggler/install/plotjuggler_ros/lib/plotjuggler_ros/libTopicPublisherROS2.so", at 0x7f2e3e974854, in TopicPublisherROS2::updatePublishers() #4 Object "/opt/ros/foxy/lib/librclcpp.so", at 0x7f2e3f54970b, in rclcpp::PublisherBase::PublisherBase(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rosidl_message_type_support_t const&, rcl_publisher_options_t const&) #3 Object "/opt/ros/foxy/lib/librcl.so", at 0x7f2e3f742fff, in rcl_publisher_init #2 Object "/opt/ros/foxy/lib/librmw_fastrtps_cpp.so", at 0x7f2e3f34cd71, in rmw_create_publisher #1 Object "/opt/ros/foxy/lib/librmw_fastrtps_cpp.so", at 0x7f2e3f342869, in #0 Object "/opt/ros/foxy/lib/librosidl_runtime_c.so", at 0x7f2e3f3964ed, in get_message_typesupport_handle Segmentation fault (Address not mapped to object [0x7f2e3e1a9220])

[facontidavide]

Please check that both plotjuggler and plotjuggler-ros are up to date and confirm to be the respective versions.

I suggest doing apt update / apt upgrade first

[TanatosSpirit]

@facontidavide @galAcarteav

I got the same problem.

My system: Ubuntu 20.04, ROS2 Foxy, Repos: PlotJuggler = 3.2.1, plotjuggler-ros-plugins = 1.5.0, plotjuggler_msgs = ros2.

I don't know why, but if in the file /plotjuggler-ros-plugins/plugins/TopicPublisherROS2/generic_publisher.h replace

 48    auto type_support = rosbag2_cpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp",
                             rosbag2_cpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));

by

48     auto library = std::move(rosbag2_cpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
49     auto type_support = rosbag2_cpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", library);

then it works.

I also noticed that the original version works with /tf, /tf_static, but does not work with visualization_msgs/msg/MarkerArray.

[facontidavide]

Something that I find out recently is that republishing must be stopped if a new rosbag is loaded. If you keep it running, it will crash.

Is this maybe the bug you are observing?

[TanatosSpirit]

@facontidavide @galAcarteav I'm observing the following bug:

https://user-images.githubusercontent.com/39188971/125736574-7f1569f1-b5a3-45f1-96b9-1f8ba1af7d96.mp4

[facontidavide]

Ok. I am spending my vacations away from a computer. Once I am back, I will address this

[autumn-eel]

I encountered a similar bug with ROS2 Iron. Have you fixed this problem?