Segment fault occurred when node was added to executor if the callback group variable created was local about rclcpp HOT 9 OPEN

Hello @Chaochao0215, maybe we could build a debug type of this source code and use gdb to backtrace when it crashed

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I tried your code, but I cannot find segment fault.
My test environment is based on ros2 Debian package (ros-humble-rclcpp 16.0.8-1jammy.20240217.065743).

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Hello @Chaochao0215, maybe we could build a debug type of this source code and use gdb to backtrace when it crashed
Glad to receive your reply, this issue reoccuered and i pasted the backtrace information

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I tried your code and I can't reproduce the segment fault.
However, in gdb backtrace it seems like a multi-thread problem,
rebuild your program with

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")

and check if there's data race in ThreadSanitizer report.

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I tried your code and I can't reproduce the segment fault. However, in gdb backtrace it seems like a multi-thread problem, rebuild your program with

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")

and check if there's data race in ThreadSanitizer report.

hi, I found a quick way to reproduce the problem

1. set breakpoint 1 at line 21 of the test file
2. set breakpoint 2 at line 25 of the test file
3. set breakpoint 3 at " rcl_ret_t status =
   rcl_wait(&wait_set_, std::chrono::duration_caststd::chrono::nanoseconds(timeout).count());" in executor.cpp
4. set gdb to not stop when hit breakpoints , then run the test
5. after breakpoints 1 && 3 both hit , continue the main thread and wait to hit breakpoint 2
6. after breakpoint 2 hit, send the message subscribed in the new shell terminal, such as 'ros2 topic pub /test_callback_group std_msgs/msg/String "data: hello"' and continue the thread interrupted at breakpoint 3 , segment fault should occurred

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6. send the message subscribed in the new shell terminal, such as 'ros2 topic pub /test_callback_group std_msgs/msg/String "data: hello"

I missed this step.

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6. send the message subscribed in the new shell terminal, such as 'ros2 topic pub /test_callback_group std_msgs/msg/String "data: hello"

I missed this step.

I'm sorry i didn't specify the need to publish message at the beginning, hope you reproduce it successfully.

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I tried your code, but I cannot find segment fault. My test environment is based on ros2 Debian package (ros-humble-rclcpp 16.0.8-1jammy.20240217.065743).
Thank you for your attention, it occurs with low probability and I built ROS2 from source so that it can be controlled through gdb

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@Chaochao0215 it would be helpful if you could provide self-contained reproducible test.

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