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Empty node creates asan AddressSanitizer: new-delete-type-mismatch abort on construction

Open fake-name opened this issue 3 years ago • 7 comments

Bug report

Required Info:

  • Operating System:
    • Ubuntu 20.04, Ubuntu 18.04 armhf (Tegra)
  • Installation type:
    • Source
  • Version or commit hash:
    • Install was via rosinstall_generator, specifying galactic as the release version. Relevant revisions:
    • rclcpp: 2a5daafe0c12541904b72f19e4afa07c3052969d
    • rcl: fac8347437b3d8e1e38f8e1e6728ff03c638792a
    • I built this today, so the revisions should all be basically HEAD at 2022/05/03
  • DDS implementation:
    • N/A
  • Client library (if applicable):
    • rclcpp

Steps to reproduce issue

Compile the following node:

main.cpp

#include <rclcpp/rclcpp.hpp>

#include <iostream>

class TestNode : public rclcpp::Node
{
	private:

	public:

		TestNode()
		: Node("test_node")
		{

		}
		virtual ~TestNode()
		{

		}

};



int main(int argc, char * argv[])
{
	std::cout << "Main!" << std::endl;
	rclcpp::init(argc, argv);
	auto node = std::make_shared<TestNode>();

	std::cout << "Starting node. ROS2 OK: " << rclcpp::ok() << "." << std::endl;
	rclcpp::spin(node);

	rclcpp::shutdown();

	return 0;
}

CMakeLists.txt:

cmake_minimum_required(VERSION 3.8)
project(node_test)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

add_executable (
  test_node
  src/main.cpp
  )

ament_target_dependencies(test_node
  "rclcpp"
  "std_msgs"
)

ament_package()

Build with colcon+asan (https://github.com/colcon/colcon-sanitizer-reports)

colcon build --mixin asan-gcc

Execute the resulting binary:

durr@rostest:~/testws$ ./build/node_test/test_node
Main!
=================================================================
==12240==ERROR: AddressSanitizer: new-delete-type-mismatch on 0x625000002900 in thread T0:
  object passed to delete has wrong type:
  size of the allocated type:   8064 bytes;
  size of the deallocated type: 112 bytes.
    #0 0x7fd1077d160f in operator delete(void*, unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:172
    #1 0x7fd1074b9c41 in __gnu_cxx::new_allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > >::deallocate(rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*, unsigned long) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x716c41)
    #2 0x7fd1074b93de in std::allocator_traits<std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > > >::deallocate(std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > >&, rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*, unsigned long) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7163de)
    #3 0x7fd1074b858e in void rclcpp::allocator::retyped_deallocate<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > > >(void*, void*) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x71558e)
    #4 0x7fd106aa92d4 in rcutils_string_map_fini (/opt/workspace/ros2/galactic/install/rcutils/lib/librcutils.so+0x112d4)
    #5 0x7fd106c8ba9e in rcl_resolve_name (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x24a9e)
    #6 0x7fd106c8bd5d in rcl_node_resolve_name (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x24d5d)
    #7 0x7fd106c891e9 in rcl_publisher_init (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x221e9)
    #8 0x7fd107545109 in rclcpp::PublisherBase::PublisherBase(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_message_type_support_t const&, rcl_publisher_options_t const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7a2109)
    #9 0x7fd1074b6f9f in rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >::Publisher(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x713f9f)
    #10 0x7fd1074b6b52 in void __gnu_cxx::new_allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x713b52)
    #11 0x7fd1074b644d in void std::allocator_traits<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >&, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x71344d)
    #12 0x7fd1074b57b0 in std::_Sp_counted_ptr_inplace<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7127b0)
    #13 0x7fd1074b4809 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x711809)
    #14 0x7fd1074b2ff7 in std::__shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70fff7)
    #15 0x7fd1074b11f6 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70e1f6)
    #16 0x7fd1074ae728 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::allocate_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > const&, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70b728)
    #17 0x7fd1074aa576 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::make_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x707576)
    #18 0x7fd1074a54bc in rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7024bc)
    #19 0x7fd1074b32e2 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::__invoke_impl<std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(std::__invoke_other, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7102e2)
    #20 0x7fd1074b1468 in std::enable_if<is_invocable_r_v<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>, std::shared_ptr<rclcpp::PublisherBase> >::type std::__invoke_r<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70e468)
    #21 0x7fd1074aeb07 in std::_Function_handler<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70bb07)
    #22 0x7fd1074c5aac in std::function<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)>::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x722aac)
    #23 0x7fd1074c4f55 in rclcpp::node_interfaces::NodeTopics::create_publisher(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::PublisherFactory const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x721f55)
    #24 0x7fd1074a05f6 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::detail::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> >(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6fd5f6)
    #25 0x7fd10749c44e in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> >(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6f944e)
    #26 0x7fd107493be0 in rclcpp::node_interfaces::NodeParameters::NodeParameters(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&, bool, bool, rclcpp::QoS const&, rclcpp::PublisherOptionsBase const&, bool, bool) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6f0be0)
    #27 0x7fd107472216 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6cf216)
    #28 0x7fd10747158e in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6ce58e)
    #29 0x56311caaf896 in TestNode::TestNode() (/home/durr/testws/build/node_test/test_node+0xa896)
    #30 0x56311cab3120 in void __gnu_cxx::new_allocator<TestNode>::construct<TestNode>(TestNode*) (/home/durr/testws/build/node_test/test_node+0xe120)
    #31 0x56311cab2f96 in void std::allocator_traits<std::allocator<TestNode> >::construct<TestNode>(std::allocator<TestNode>&, TestNode*) (/home/durr/testws/build/node_test/test_node+0xdf96)
    #32 0x56311cab2cda in std::_Sp_counted_ptr_inplace<TestNode, std::allocator<TestNode>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<>(std::allocator<TestNode>) (/home/durr/testws/build/node_test/test_node+0xdcda)
    #33 0x56311cab26fa in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<TestNode, std::allocator<TestNode>>(TestNode*&, std::_Sp_alloc_shared_tag<std::allocator<TestNode> >) (/home/durr/testws/build/node_test/test_node+0xd6fa)
    #34 0x56311cab246c in std::__shared_ptr<TestNode, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<TestNode>>(std::_Sp_alloc_shared_tag<std::allocator<TestNode> >) (/home/durr/testws/build/node_test/test_node+0xd46c)
    #35 0x56311cab1c2d in std::shared_ptr<TestNode>::shared_ptr<std::allocator<TestNode>>(std::_Sp_alloc_shared_tag<std::allocator<TestNode> >) (/home/durr/testws/build/node_test/test_node+0xcc2d)
    #36 0x56311cab161d in std::shared_ptr<TestNode> std::allocate_shared<TestNode, std::allocator<TestNode>>(std::allocator<TestNode> const&) (/home/durr/testws/build/node_test/test_node+0xc61d)
    #37 0x56311cab0864 in std::shared_ptr<TestNode> std::make_shared<TestNode>() (/home/durr/testws/build/node_test/test_node+0xb864)
    #38 0x56311caaeb4b in main (/home/durr/testws/build/node_test/test_node+0x9b4b)
    #39 0x7fd1065390b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x240b2)
    #40 0x56311caae7ed in _start (/home/durr/testws/build/node_test/test_node+0x97ed)

0x625000002900 is located 0 bytes inside of 8064-byte region [0x625000002900,0x625000004880)
allocated by thread T0 here:
    #0 0x7fd1077d05a7 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:99
    #1 0x7fd1074a7407 in __gnu_cxx::new_allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > >::allocate(unsigned long, void const*) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x704407)
    #2 0x7fd1074a267a in std::allocator_traits<std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > > >::allocate(std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > >&, unsigned long) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6ff67a)
    #3 0x7fd1074b84eb in void* rclcpp::allocator::retyped_allocate<std::allocator<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > > >(unsigned long, void*) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7154eb)
    #4 0x7fd106aa9118 in rcutils_string_map_init (/opt/workspace/ros2/galactic/install/rcutils/lib/librcutils.so+0x11118)
    #5 0x7fd106c8b7f7 in rcl_resolve_name (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x247f7)
    #6 0x7fd106c8bd5d in rcl_node_resolve_name (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x24d5d)
    #7 0x7fd106c891e9 in rcl_publisher_init (/opt/workspace/ros2/galactic/install/rcl/lib/librcl.so+0x221e9)
    #8 0x7fd107545109 in rclcpp::PublisherBase::PublisherBase(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_message_type_support_t const&, rcl_publisher_options_t const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7a2109)
    #9 0x7fd1074b6f9f in rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >::Publisher(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x713f9f)
    #10 0x7fd1074b6b52 in void __gnu_cxx::new_allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x713b52)
    #11 0x7fd1074b644d in void std::allocator_traits<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >&, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x71344d)
    #12 0x7fd1074b57b0 in std::_Sp_counted_ptr_inplace<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7127b0)
    #13 0x7fd1074b4809 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x711809)
    #14 0x7fd1074b2ff7 in std::__shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70fff7)
    #15 0x7fd1074b11f6 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70e1f6)
    #16 0x7fd1074ae728 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::allocate_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > const&, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70b728)
    #17 0x7fd1074aa576 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::make_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x707576)
    #18 0x7fd1074a54bc in rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7024bc)
    #19 0x7fd1074b32e2 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::__invoke_impl<std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(std::__invoke_other, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x7102e2)
    #20 0x7fd1074b1468 in std::enable_if<is_invocable_r_v<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>, std::shared_ptr<rclcpp::PublisherBase> >::type std::__invoke_r<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70e468)
    #21 0x7fd1074aeb07 in std::_Function_handler<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x70bb07)
    #22 0x7fd1074c5aac in std::function<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)>::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x722aac)
    #23 0x7fd1074c4f55 in rclcpp::node_interfaces::NodeTopics::create_publisher(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::PublisherFactory const&, rclcpp::QoS const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x721f55)
    #24 0x7fd1074a05f6 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::detail::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> >(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6fd5f6)
    #25 0x7fd10749c44e in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> >(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6f944e)
    #26 0x7fd107493be0 in rclcpp::node_interfaces::NodeParameters::NodeParameters(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&, bool, bool, rclcpp::QoS const&, rclcpp::PublisherOptionsBase const&, bool, bool) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6f0be0)
    #27 0x7fd107472216 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6cf216)
    #28 0x7fd10747158e in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) (/opt/workspace/ros2/galactic/install/rclcpp/lib/librclcpp.so+0x6ce58e)
    #29 0x56311caaf896 in TestNode::TestNode() (/home/durr/testws/build/node_test/test_node+0xa896)

SUMMARY: AddressSanitizer: new-delete-type-mismatch ../../../../src/libsanitizer/asan/asan_new_delete.cpp:172 in operator delete(void*, unsigned long)
==12240==HINT: if you don't care about these errors you may set ASAN_OPTIONS=new_delete_type_mismatch=0
==12240==ABORTING

The binary aborts during startup.

Specifying ASAN_OPTIONS=new_delete_type_mismatch=0 causes the binary to operate as expected.

Expected behavior

Considering apparently asan is built as part of the standard CI process (https://github.com/ros2/ros2/issues/665), I'd expect to be able to instantiate about the minimum rclcpp node possible without abort being called.

Actual behavior

asan triggers an abort.

I think this is harmless, but it makes using asan annoying, if nothing else.

fake-name avatar May 04 '22 01:05 fake-name

this can be observed on master https://github.com/ros2/ros2/commit/077c53b9a27100bcb4e3ec94549d5a9e6690fea5. but i am not sure why it deallocate the different type... any thoughts?

fujitatomoya avatar May 11 '22 22:05 fujitatomoya

I wonder if this is related to https://github.com/ros2/rclcpp/pull/1324 . That's been a long outstanding PR that we still haven't been able to get in.

clalancette avatar May 16 '22 19:05 clalancette

@clalancette thanks for the info, i will look into it.

fujitatomoya avatar May 17 '22 23:05 fujitatomoya

I see I created a duplicate issue for this here: https://github.com/ros2/rclcpp/issues/1948

My issue has a link to a minimal example that runs in a Github Actions CI job and demonstrates this bug. You will note that this failure does not exist in Galactic. I just discovered this after migrating a project from Galactic to Rolling that runs ASAN in CI.

tylerjw avatar Jun 06 '22 22:06 tylerjw

You will note that this failure does not exist in Galactic

I'm using galactic, and seeing the issue. I'm building from source, but specifying galactic to rosinstall_generator:

rosinstall_generator --deps --rosdistro galactic ros_base launch_xml launch_yaml example_interfaces > ros2.galactic.ros_base.rosinstall

fake-name avatar Jun 07 '22 02:06 fake-name

Maybe the older version of gcc on 20.04 just doesn't catch this error. What compiler are you using when building from source?

tylerjw avatar Jun 07 '22 04:06 tylerjw

Gcc 10.3. It's from ppa:ubuntu-toolchain-r/test.

I'm not on 11 because a different package I depend on (not ROS related) is broken on 11, annoyingly.

fake-name avatar Jun 07 '22 08:06 fake-name