Tomoya Fujita

> The general issue is that these exceptions cannot be caught in the multi-threaded executor. true. if the exception generated in worker thread, these exception cannot be caught with main...

@ggari-robotnik thanks for posting the issue. > I have a full simulation of Robotnik RB-Theron with Gazebo in ROS2, including all manifests, web RViz, and Gazebo implementations. Feel free to...

@ggari-robotnik good news. Cilium supports multicast now, see the verified doc here https://github.com/fujitatomoya/ros_k8s/blob/master/docs/Setup_Kubernetes_Cluster.md#enable-multicast-wip

i think that we can now close this issue, feel free to reopen if anything is missing.

you can see https://docs.ros.org/en/rolling/How-To-Guides/Package-maintainer-guide.html#backporting-to-released-distributions as guideline. AFAIK, it also depends on the behavior change that could affect the application, tools and so on. adding command line options can be considered...

I think `task = executor.create_task(throwing_task)` is called with another `handler` in the executor, which does not have `try&catch` statement at all.

@Fildo7525 @endrelaszlo @mjbogusz either of you guys, would you mind if trying https://github.com/ros2/rosidl/pull/702 to see if the problem can be solved?

> Ubuntu 18.04 Humble supports Ubuntu 22.04 as tier 1 platform. I am not sure if Humble can built with Ubuntu 18.04. (btw, Ubuntu 20.04 is community support.) see more...

i think so, there is a racy condition, and `goal_handle` could be invalid.

> Segmentation fault (Address not mapped to object [0xaaa1b04a5f08]) > 0x0000fffff6417588 in rmw_fastrtps_shared_cpp::__rmw_wait (identifier=, subscriptions=, guard_conditions=0xaaaaab4e0b30, services=, clients=, events=, wait_set=, wait_timeout=) at /opt/underlay_ws/src/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp:220 > 220 if (!condition->get_trigger_value()) { https://github.com/ros2/rmw_fastrtps/blob/247e491e20ed53f1d3b33dfff78a8130c091161c/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp#L220 `static_cast(data)`...