[Zenoh] AMCL intermittent crash on Raspberry Pi 5 with stack smashing detected

[EricoMeger]

• Operating System:
  • Ubuntu 24.04
• Computer:
  • Raspberry Pi 5 8 gb
• ROS2 Version:
  • Jazzy installed via deb packages
• Version or commit hash:
  • ros-jazzy-navigation2 1.3.7-1noble.20250624.214056
  • ros-jazzy-nav2-amcl 1.3.7-1noble.20250624.150636
• DDS implementation:
  • Eclipse Zenoh

Steps to reproduce issue

I cannot reliably reproduce the crash; it happens intermittently during startup of the navigation stack with AMCL.

Typical steps that sometimes trigger it:

1. Launch the full navigation stack:

   ros2 launch nav_pkg nav.launch.py
   

Expected behavior

AMCL should start and configure correctly

Actual behavior

Occasionally, AMCL crashes during startup with a stack smashing detected error at initTransforms. The crash happens intermittently and is not reliably reproducible.

[map_server-1] [INFO] [1755174650.889985773] [map_io]: Read map /home/ubuntu/ros2_ws/src/nav_hub/maps/mapa360.pgm: 782 X 1167 map @ 0.036 m/cell
[lifecycle_manager-10] [INFO] [1755174650.901656774] [lifecycle_manager_navigation]: Configuring amcl
[amcl-3] [INFO] [1755174650.902333369] [amcl]: Configuring
[amcl-3] [INFO] [1755174650.902474739] [amcl]: initTransforms
[amcl-3] *** stack smashing detected ***: terminated

Error on backtrace:

#0  __pthread_kill_implementation (threadid=281474840551456, signo=signo@entry=6, no_tid=no_tid@entry=0) at ./nptl/pthread_kill.c:44
#1  0x0000fffff76f7670 in __pthread_kill_internal (signo=6, threadid=<optimized out>) at ./nptl/pthread_kill.c:78
#2  0x0000fffff76acb3c in __GI_raise (sig=sig@entry=6) at ../sysdeps/posix/raise.c:26
#3  0x0000fffff7697e00 in __GI_abort () at ./stdlib/abort.c:79
#4  0x0000fffff76eabf4 in __libc_message_impl (fmt=fmt@entry=0xfffff77d2b18 "*** %s ***: terminated\n") at ../sysdeps/posix/libc_fatal.c:134
#5  0x0000fffff77681a8 in __GI___fortify_fail (msg=msg@entry=0xfffff77d2b30 "stack smashing detected") at ./debug/fortify_fail.c:24
#6  0x0000fffff7769164 in __stack_chk_fail () at ./debug/stack_chk_fail.c:24
#7  0x0000fffff6f7338c in eigen_decomposition () from /opt/ros/jazzy/lib/libpf_lib.so
#8  0x0000fffff6f73410 in pf_matrix_unitary () from /opt/ros/jazzy/lib/libpf_lib.so
#9  0x0000fffff6f7353c in pf_pdf_gaussian_alloc () from /opt/ros/jazzy/lib/libpf_lib.so
#10 0x0000fffff6f73668 in pf_init () from /opt/ros/jazzy/lib/libpf_lib.so
#11 0x0000fffff7eddb44 in nav2_amcl::AmclNode::initParticleFilter() () from /opt/ros/jazzy/lib/libamcl_core.so
#12 0x0000fffff7ece6fc in nav2_amcl::AmclNode::on_configure(rclcpp_lifecycle::State const&) () from /opt/ros/jazzy/lib/libamcl_core.so

Reproduction instructions

Cannot reliably reproduce. Typical usage that sometimes triggers the crash:

  ros2 launch nav_pkg nav.launch.py

Wait for AMCL to configure and initialize. The crash may appear in the console and GDB backtrace shows the failure in eigen_decomposition() inside libpf_lib.so.

Additional information

• The crash occurs intermittently: approximately 2 out of every 5 launches trigger it. However, it is not consistent, and sometimes it does not occur at all.
• I'm using a LDROBOT STL27L LiDAR publishing ~2170 points per scan with some NaN values in ranges and intensity
• I tried tweaking some AMCL parameters: reducing max_beams, max_particles, and min_particles, but the crash persisted. I also considered that the issue might be related to the initial pose, so I tried setting set_initial_pose and always_reset_initial_pose to true, but that did not help.
• I also suspected the map could be related, and tried creating a new one and testing maps known to work fine on Humble, but the problem persisted.
• htop memory and CPU usage at the moment of the crash: Watch Here

AMCL parameters

amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.35
    alpha2: 0.3
    alpha3: 0.2
    alpha4: 0.2
    # alpha5: 0.2
    base_frame_id: "base_footprint"
    introspection_mode: "disabled"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 15.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 80
    max_particles: 2000
    min_particles: 800
    odom_frame_id: "odom"
    pf_err: 0.01
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: -1.0
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.15
    update_min_d: 0.20
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.005
    scan_topic: scan
    map_topic: map
    set_initial_pose: false
    always_reset_initial_pose: false
    first_map_only: false
    initial_pose:
      x: 0.0
      y: 0.0
      z: 0.0
      yaw: 0.0

Entire nav params, if relevant:

Nav params

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    use_sim_time: false
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 2000
    action_server_result_timeout: 900.0
    navigators: ["navigate_to_pose"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"

    default_nav_to_pose_bt_xml: "/home/ubuntu/ros2_ws/src/nav_hub/btree/custom_tree.xml"

    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.

    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
    # Built-in plugins are added automatically
    # plugin_lib_names: []

    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

map_server:
  ros__parameters:
    frame_id: map   
    topic_name: map
    use_sim_time: false
    yaml_filename: "/home/ubuntu/ros2_ws/src/nav_hub/maps/mapa360.yaml"

controller_server:
  ros__parameters:
    controller_frequency: 5.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.001
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
    goal_checker_plugins: ["goal_checker"]
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.35
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 15
      model_dt: 0.2
      batch_size: 5000
      vx_std: 0.2
      vy_std: 0.0
      wz_std: 0.4
      vx_max: 0.35
      vx_min: -0.35
      vy_max: 0.0
      wz_max: 1.5
      ax_max: 3.0
      ax_min: -3.0
      ay_min: 0.0
      ay_max: 0.0
      az_max: 3.5
      iteration_count: 1
      prune_distance: 1.7
      transform_tolerance: 0.1
      temperature: 0.3
      gamma: 0.015
      motion_model: "DiffDrive"
      visualize: false
      # reset_period: 1.0 # (only in Humble)
      regenerate_noises: false
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      TrajectoryValidator:
        plugin: "mppi::DefaultOptimalTrajectoryValidator"
        collision_lookahead_time: 2.0
        consider_footprint: false
      # AckermannConstraints:
      #   min_turning_r: 0.2
      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        critical_cost: 300.0
        consider_footprint: true
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 14.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.5
        offset_from_furthest: 20
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        mode: 0

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 5.0
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: false
      rolling_window: true
      track_unknown_space: true
      lethal_cost_threshold: 100
      width: 5
      height: 5
      resolution: 0.036
      footprint: "[[0.16, -0.25], [0.16, 0.25], [-0.40, 0.25], [-0.40, -0.25]]"
      # robot_radius: 0.35
      plugins: ["obstacle_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 2.58
        inflation_radius: 1.75
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: false
      # robot_radius: 0.35
      footprint: "[[0.16, -0.25], [0.16, 0.25], [-0.40, 0.25], [-0.40, -0.25]]"
      resolution: 0.036
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        track_unknown_space: true
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        enabled: True
        plugin: "nav2_costmap_2d::StaticLayer"
        track_unknown_space: true
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 2.58
        inflation_radius: 1.75
        enabled: True
      always_send_full_costmap: True

amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.35
    alpha2: 0.3
    alpha3: 0.2
    alpha4: 0.2
    # alpha5: 0.2
    base_frame_id: "base_footprint"
    introspection_mode: "disabled"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 15.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 80
    max_particles: 2000
    min_particles: 800
    odom_frame_id: "odom"
    pf_err: 0.01
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: -1.0
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.15
    update_min_d: 0.20
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.005
    scan_topic: scan
    map_topic: map
    set_initial_pose: false
    always_reset_initial_pose: false
    first_map_only: false
    initial_pose:
      x: 0.0
      y: 0.0
      z: 0.0
      yaw: 0.0

planner_server:
  ros__parameters:
    use_sim_time: false
    expected_planner_frequency: 20.0
    planner_plugins: ["GridBased"]
    costmap_update_timeout: 0.5
    GridBased:
      plugin: "nav2_navfn_planner::NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: false
      unknown_cost_value: 255

smoother_server:
  ros__parameters:
    use_sim_time: false
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors::Spin"
    backup:
      plugin: "nav2_behaviors::BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors::DriveOnHeading"
    wait:
      plugin: "nav2_behaviors::Wait"
    assisted_teleop:
      plugin: "nav2_behaviors::AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_footprint
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.3
    min_rotational_vel: 0.1
    rotational_acc_lim: 3.2
    enable_stamped_cmd_vel: true

robot_state_publisher:
  ros__parameters:
    use_sim_time: false

waypoint_follower:
  ros__parameters:
    use_sim_time: false
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.5, 0.0, 2.0]
    min_velocity: [-0.5, 0.0, -2.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "/odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0
    enable_stamped_cmd_vel: true

Launch being used, if relevant:

Navigation Launch

import os
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.conditions import IfCondition
from nav2_common.launch import RewrittenYaml
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode, ParameterFile
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav_hub')

    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time')
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfiguration('use_composition')
    container_name = LaunchConfiguration('container_name')
    container_name_full = (namespace, '/', container_name)
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')

    lifecycle_nodes = ['map_server',
                       'amcl',  
                       'controller_server',
                       'smoother_server',
                       'planner_server',
                       'behavior_server',
                       'bt_navigator',
                       'waypoint_follower'
                       #'velocity_smoother'
    ]

    remappings = []

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {
        'use_sim_time': use_sim_time,
        'autostart': autostart}

    configured_params = ParameterFile(
        RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites=param_substitutions,
            convert_types=True),
        allow_substs=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true')

    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'config', 'nav_dinamico.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes')

    declare_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name', default_value='nav2_container',
        description='the name of conatiner that nodes will load in if use composition')

    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn', default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.')

    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')

    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            Node(
                package='nav2_map_server',
                executable='map_server',
                name='map_server',
                output='screen',
                parameters=[configured_params],
            ),
            Node(
                package='nav2_controller',
                executable='controller_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                ),
            Node(
                package='nav2_amcl',
                executable='amcl',
                name='amcl',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                # arguments=['--ros-args', '--log-level', log_level],
                # prefix=['xterm -e gdb -ex run --args'],
                # arguments=['--ros-args', '--log-level', 'debug']
            ),
            Node(
                package='nav2_smoother',
                executable='smoother_server',
                name='smoother_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_planner',
                executable='planner_server',
                name='planner_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_behaviors',
                executable='behavior_server',
                name='behavior_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                ),
            Node(
                package='nav2_bt_navigator',
                executable='bt_navigator',
                name='bt_navigator',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_waypoint_follower',
                executable='waypoint_follower',
                name='waypoint_follower',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_velocity_smoother',
                executable='velocity_smoother',
                name='velocity_smoother',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_navigation',
                output='screen',
                arguments=['--ros-args', '--log-level', log_level],
                parameters=[{'use_sim_time': use_sim_time},
                            {'autostart': autostart},
                            {'node_names': lifecycle_nodes}]),
        ]
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_container_name_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)
    # Add the actions to launch all of the navigation nodes
    ld.add_action(load_nodes)

    return ld

[SteveMacenski]

Please check out the tutorial on docs.nav2.org to get a full GDB trace so we can see specifically where that is happening.

Some questions:

• Have you changed values from the defaults in Nav2? If so, which? Can you reproduce with Nav2 default config? I’m interested if it’s configuration related.
• Are you setting the initial pose and providing it with NaNs or Infs? Does this only happen when you provide it with an initial pose in the config? What if you do so via rviz or the initial pose publisher after it’s activated?
• Have you tried the same configs, map, initial pose, etc in humble and seen that work OK? Trying to see if there’s a change there and we can look backwards to see if we can find the spot.
• Does this reproduce in another computer? Wanting to know if it’s a RPi specific issue.

[EricoMeger]

I had a couple of issues trying to build Nav2 with the Debug option to get a more detailed backtrace, and the build time on the RPi is quite long. I will be able to provide the full backtrace tomorrow, sorry for the delay.

For now, I’ll go ahead and answer your questions.

Also, even though there isn’t much additional information, I’m attaching the entire run logs instead of just a cherry-picked section:

Run logs

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2025-08-21-09-44-20-841266-robot06-4564
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server-1]: process started with pid [4567]
[INFO] [controller_server-2]: process started with pid [4568]
[INFO] [amcl-3]: process started with pid [4569]
[INFO] [smoother_server-4]: process started with pid [4570]
[INFO] [planner_server-5]: process started with pid [4571]
[INFO] [behavior_server-6]: process started with pid [4572]
[INFO] [bt_navigator-7]: process started with pid [4573]
[INFO] [waypoint_follower-8]: process started with pid [4574]
[INFO] [velocity_smoother-9]: process started with pid [4575]
[INFO] [lifecycle_manager-10]: process started with pid [4576]
[velocity_smoother-9] [INFO] [1755780261.259559858] [velocity_smoother]: 
[velocity_smoother-9] 	velocity_smoother lifecycle node launched. 
[velocity_smoother-9] 	Waiting on external lifecycle transitions to activate
[velocity_smoother-9] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[behavior_server-6] [INFO] [1755780261.285883982] [behavior_server]: 
[behavior_server-6] 	behavior_server lifecycle node launched. 
[behavior_server-6] 	Waiting on external lifecycle transitions to activate
[behavior_server-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-2] [INFO] [1755780261.345489609] [controller_server]: 
[controller_server-2] 	controller_server lifecycle node launched. 
[controller_server-2] 	Waiting on external lifecycle transitions to activate
[controller_server-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-2] [INFO] [1755780261.355782193] [controller_server]: Creating controller server
[lifecycle_manager-10] [INFO] [1755780261.364507777] [lifecycle_manager_navigation]: Creating
[controller_server-2] [INFO] [1755780261.366198816] [local_costmap.local_costmap]: 
[controller_server-2] 	local_costmap lifecycle node launched. 
[controller_server-2] 	Waiting on external lifecycle transitions to activate
[controller_server-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-2] [INFO] [1755780261.367238272] [local_costmap.local_costmap]: Creating Costmap
[lifecycle_manager-10] [INFO] [1755780261.384470679] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[smoother_server-4] [INFO] [1755780261.390330266] [smoother_server]: 
[smoother_server-4] 	smoother_server lifecycle node launched. 
[smoother_server-4] 	Waiting on external lifecycle transitions to activate
[smoother_server-4] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-4] [INFO] [1755780261.394113959] [smoother_server]: Creating smoother server
[bt_navigator-7] [INFO] [1755780261.402307592] [bt_navigator]: 
[bt_navigator-7] 	bt_navigator lifecycle node launched. 
[bt_navigator-7] 	Waiting on external lifecycle transitions to activate
[bt_navigator-7] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-7] [INFO] [1755780261.405373443] [bt_navigator]: Creating
[map_server-1] [INFO] [1755780261.421808432] [map_server]: 
[map_server-1] 	map_server lifecycle node launched. 
[map_server-1] 	Waiting on external lifecycle transitions to activate
[map_server-1] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-1] [INFO] [1755780261.422022861] [map_server]: Creating
[waypoint_follower-8] [INFO] [1755780261.432515762] [waypoint_follower]: 
[waypoint_follower-8] 	waypoint_follower lifecycle node launched. 
[waypoint_follower-8] 	Waiting on external lifecycle transitions to activate
[waypoint_follower-8] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-8] [INFO] [1755780261.433490533] [waypoint_follower]: Creating
[planner_server-5] [INFO] [1755780261.439060543] [planner_server]: 
[planner_server-5] 	planner_server lifecycle node launched. 
[planner_server-5] 	Waiting on external lifecycle transitions to activate
[planner_server-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-5] [INFO] [1755780261.443915063] [planner_server]: Creating
[planner_server-5] [INFO] [1755780261.450971072] [global_costmap.global_costmap]: 
[planner_server-5] 	global_costmap lifecycle node launched. 
[planner_server-5] 	Waiting on external lifecycle transitions to activate
[planner_server-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-5] [INFO] [1755780261.451883508] [global_costmap.global_costmap]: Creating Costmap
[amcl-3] [INFO] [1755780261.467197429] [amcl]: 
[amcl-3] 	amcl lifecycle node launched. 
[amcl-3] 	Waiting on external lifecycle transitions to activate
[amcl-3] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-3] [INFO] [1755780261.470718137] [amcl]: Creating
[lifecycle_manager-10] [INFO] [1755780261.476375241] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-10] [INFO] [1755780261.476460723] [lifecycle_manager_navigation]: Configuring map_server
[map_server-1] [INFO] [1755780261.477585088] [map_server]: Configuring
[map_server-1] [INFO] [1755780261.477704590] [map_io]: Loading yaml file: /home/ubuntu/ros2_ws/src/nav_hub/maps/aceleradoras.yaml
[map_server-1] [INFO] [1755780261.478076612] [map_io]: resolution: 0.036
[map_server-1] [INFO] [1755780261.478114928] [map_io]: origin[0]: -33.2
[map_server-1] [INFO] [1755780261.478121594] [map_io]: origin[1]: -12.9
[map_server-1] [INFO] [1755780261.478127280] [map_io]: origin[2]: 0
[map_server-1] [INFO] [1755780261.478132669] [map_io]: free_thresh: 0.25
[map_server-1] [INFO] [1755780261.478137798] [map_io]: occupied_thresh: 0.65
[map_server-1] [INFO] [1755780261.478144576] [map_io]: mode: trinary
[map_server-1] [INFO] [1755780261.478150206] [map_io]: negate: 0
[map_server-1] [INFO] [1755780261.478458765] [map_io]: Loading image_file: /home/ubuntu/ros2_ws/src/nav_hub/maps/aceleradoras.pgm
[map_server-1] [INFO] [1755780261.603009211] [map_io]: Read map /home/ubuntu/ros2_ws/src/nav_hub/maps/aceleradoras.pgm: 1934 X 2007 map @ 0.036 m/cell
[lifecycle_manager-10] [INFO] [1755780261.618470467] [lifecycle_manager_navigation]: Configuring amcl
[amcl-3] [INFO] [1755780261.619042788] [amcl]: Configuring
[amcl-3] [INFO] [1755780261.619203753] [amcl]: initTransforms
[amcl-3] *** stack smashing detected ***: terminated
[ERROR] [amcl-3]: process has died [pid 4569, exit code -6, cmd '/opt/ros/jazzy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/launch_params_txv1w244'].

Have you changed values from the defaults in Nav2? If so, which?

Yes. In AMCL:

• Reduced laser_max_range to 15.0, pf_err to 0.01, and z_short to 0.005.
• Increased max_beams to 250 and min_particles to 800.
• Disabled save_pose_rate.

In local_costmap:

• Increased publish_frequency to 5.0.
• Set width and height to 5.0.
• Lowered the resolution to 0.036.
• Changed robot_radius to use footprint.
• Using obstacle layer instead of voxel layer.

In global_costmap:

• Changed resolution and footprint.

Most of these changes were based on experiments we made back in ROS Noetic, which worked well on our robot.

Other than that, I also experimented a bit with MPPI and controller_server parameters, but I don’t think those are related. Let me know if you’d like me to detail those changes too.

Can you reproduce with Nav2 default config? I’m interested if it’s configuration related.

I wasn’t sure if you meant literally running with no custom configuration, but I tested with the sam_bot nav_params from the Nav2 tutorials, and the crash still occurred.

Are you setting the initial pose and providing it with NaNs or Infs? Does this only happen when you provide it with an initial pose in the config? What if you do so via rviz or the initial pose publisher after it’s activated?

I don’t believe I’m providing it any NaNs or Infs. The crash happens during the configure state, regardless of whether I provide an initial pose or not. Because it happens at that stage, I can’t actually set the pose through RViz yet. Once AMCL starts successfully, I can set the initial pose via RViz or through the config without any issues.

Have you tried the same configs, map, initial pose, etc in humble and seen that work OK? Trying to see if there’s a change there and we can look backwards to see if we can find the spot.

We recently migrated our robot from ROS 1 to ROS 2. At first, we chose Humble, but since Jazzy has longer support, we switched over.

In Humble, we did initial navigation testing mostly using the sam_bot parameters with small adjustments (mainly the ones I listed above).

On Jazzy, I repeated the tests with the map created while on Humble, using basically the same setup but with Jazzy configs (again based on sam_bot, with a few components removed like the docking server and collision monitor).

From what I can see, there aren’t major differences in configs between Humble and Jazzy. However, while on Humble we were running on a Raspberry Pi 4. If you think it’s worthwhile, I could try running a container with Ubuntu 22.04 + Humble on the RPi 5 (I can’t install it natively).

Does this reproduce in another computer? Wanting to know if it’s a RPi specific issue.

No, I couldn’t reproduce the issue on another computer, so I’m inclined to believe it may be RPi-specific.

Yesterday I ran our robot on a notebook (i7-8565U, 8GB RAM, Ubuntu 24.04 + Jazzy). In more than 20 runs, AMCL did not crash once (same map, configs, etc).

To be sure, I’ll try testing on another computer later.

[SteveMacenski]

Great, let me know! I think what you're pointing out is an issue with a RPi specific problem, so getting that specific illegal instruction is key. Also, seeing it happens when its compiled on the RPi instead of the build farm binaries would be diagnostic.

What's the RAM look like in this situation?

[EricoMeger]

Sorry for the delay on my response.

Yes, the issue occurs even when compiling directly on the Pi.

I tried to obtain a full backtrace following the “Detailed Backtrace” section of the tutorial:

Building Nav2 with the RelWithDebInfo or Debug build configuration allows for more detailed backtraces, including line numbers, file names, and relevant code blocks.

However, I wasn’t able to build it fully correctly. I would appreciate guidance on this.

Here’s what I tried:

1. Uninstalled all of nav2:

$ sudo apt purge ros-jazzy-nav*

2. Cloned navigation2 into my workspace
3. Installed dependencies via rosdep
4. Added add_compile_options(-g) to AMCL’s CMakeLists.txt
5. Built the workspace with colcon using Debug flags (followed ros2_control docs):

$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug

The backtrace became more detailed, but it still wasn’t fully readable and showed multiple “no debug symbol available” lines.

The full backtrace:

Full backtrace

#0  __pthread_kill_implementation (threadid=281474839814176, signo=signo@entry=6, no_tid=no_tid@entry=0) at ./nptl/pthread_kill.c:44
    tid = 34597
    ret = 0
    pd = 0xfffff7d72020
    old_mask = {__val = {281474976682000}}
    ret = <optimized out>
#1  0x0000fffff7647670 in __pthread_kill_internal (signo=6, threadid=<optimized out>) at ./nptl/pthread_kill.c:78
    No locals.
#2  0x0000fffff75fcb3c in __GI_raise (sig=sig@entry=6) at ../sysdeps/posix/raise.c:26
    ret = <optimized out>
#3  0x0000fffff75e7e00 in __GI_abort () at ./stdlib/abort.c:79
    save_stage = 1
    act = {__sigaction_handler = {sa_handler = 0x20, sa_sigaction = 0x20}, 
           sa_mask = {__val = {281474976682680, 281474839816032, 281474976682936, 281474976682928, 1, 281474842398720, 281474976682152, 0, 281474842399656, 281474842484736, 1, 281470681743365, 0, 281474824144384, 281474976682448, 281474976682440}}, 
           sa_flags = -1, sa_restorer = 0xfffff75c7790}
#4  0x0000fffff763abf4 in __libc_message_impl (fmt=fmt@entry=0xfffff7722b18 "*** %s ***: terminated\n") at ../sysdeps/posix/libc_fatal.c:134
    ap = {__stack = 0xffffffff9220, __gr_top = 0xffffffff9220, __vr_top = 0xffffffff91e0, __gr_offs = -48, __vr_offs = 0}
    fd = 2
    iov = {{iov_base = 0xfffff7722b18, iov_len = 4}, 
           {iov_base = 0xfffff7722b30, iov_len = 23}, 
           {iov_base = 0xfffff7722b1e, iov_len = 17}, 
           {iov_base = 0xaaaaaae57e90, iov_len = 281474839816032}, 
           {iov_base = 0xffffffffaa08, iov_len = 281474976683696}, 
           {iov_base = 0x100, iov_len = 18446744073709551600}, 
           {iov_base = 0x18, iov_len = 0}}
    iovcnt = <optimized out>
    total = <optimized out>
    cp = <optimized out>
#5  0x0000fffff76b81a8 in __GI___fortify_fail (msg=msg@entry=0xfffff7722b30 "stack smashing detected") at ./debug/fortify_fail.c:24
    No locals.
#6  0x0000fffff76b9164 in __stack_chk_fail () at ./debug/stack_chk_fail.c:24
    No locals.
#7  0x0000fffff6e83310 in eigen_decomposition (A=A@entry=0xffffffff93c8, V=V@entry=0xffffffff9410, d=d@entry=0xffffffff93b0) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/pf/eig3.c:282
    i = <optimized out>
    j = 3
    e = {0, 0, 0}
#8  0x0000fffff6e82adc in pf_matrix_unitary (r=r@entry=0xaaaaaae58078, d=d@entry=0xffffffff9510, a=<error reading variable: Cannot access memory at address 0x6>) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/pf/pf_vector.c:255
    i = <optimized out>
    j = 3
    aa = {{-nan(0xfffffff010000), 0, 0}, {0, 1.2055201758526416e-321, 0}, {0, 0, -nan(0xfffffff010000)}}
    eval = {1.2055201758526416e-321, 9.2711411887811341e-310, -nan(0xfffffff010000)}
    evec = {{0, 1, nan(0xfffffff010000)}, {1, -nan(0xfffffff010000), nan(0xfffffff010000)}, {0, -nan(0xfffffff010000), nan(0xfffffff010000)}}
#9  0x0000fffff6e82648 in pf_pdf_gaussian_alloc (x=..., cx=...) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/pf/pf_pdf.c:61
    cd = {m = {{9.8813129168249309e-324, 0, 1.2055201758526416e-321}, {0, 0, 0}, {9.2711411887811341e-310, 0, 0}}}
    pdf = 0xaaaaaae58010
#10 0x0000fffff6e81a44 in pf_init (pf=0xaaaaaae57e90, mean=..., cov=...) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/pf/pf.c:141
    i = <optimized out>
    set = 0xaaaaaae57eb0
    sample = <optimized out>
    pdf = <optimized out>
#11 0x0000fffff7eae014 in nav2_amcl::AmclNode::initParticleFilter (this=this@entry=0xaaaaaacd45b0) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/amcl_node.cpp:1633
    pf_init_pose_mean = {v = {-nan(0xfffffff010000), 1.4853970540215366e-313, 9.8813129168249309e-324}}
    pf_init_pose_cov = {m = {{9.2711411887811341e-310, 0, 0}, {0, 1.2055201758526416e-321, 0}, {0, 0, -nan(0xfffffff010000)}}}
#12 0x0000fffff7ec1b54 in nav2_amcl::AmclNode::on_configure (this=0xaaaaaacd45b0) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/amcl_node.cpp:249
    __func__ = <optimized out>
#13 0x0000fffff7d3f294 in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(unsigned int, rclcpp_lifecycle::State const&) const () from /opt/ros/jazzy/lib/librclcpp_lifecycle.so
    No symbol table info available.
#14 0x0000fffff7d3f978 in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::change_state(unsigned char, rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn&) () from /opt/ros/jazzy/lib/librclcpp_lifecycle.so
    No symbol table info available.
#15 0x0000fffff7d401fc in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::on_change_state(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> > >, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> > >) () from /opt/ros/jazzy/lib/librclcpp_lifecycle.so
    No symbol table info available.
#16 0x0000fffff7d41714 in std::_Function_handler<void (std::shared_ptr<rmw_request_id_s>, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> > >, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> > >), std::_Bind<void (rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::*(rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl*, std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> > >, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<rmw_request_id_s>&&, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> > >&&, std::shared_ptr<lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> > >&&) () from /opt/ros/jazzy/lib/librclcpp_lifecycle.so
    No symbol table info available.
#17 0x0000fffff7d47aa4 in ?? () from /opt/ros/jazzy/lib/librclcpp_lifecycle.so
    No symbol table info available.
#18 0x0000fffff7c88a18 in ?? () from /opt/ros/jazzy/lib/librclcpp.so
    No symbol table info available.
#19 0x0000fffff7b87acc in rclcpp::Executor::execute_service(std::shared_ptr<rclcpp::ServiceBase>) () from /opt/ros/jazzy/lib/librclcpp.so
    No symbol table info available.
#20 0x0000fffff7b8c9b0 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () from /opt/ros/jazzy/lib/librclcpp.so
    No symbol table info available.
#21 0x0000fffff7ba161c in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/jazzy/lib/librclcpp.so
    No symbol table info available.
#22 0x0000fffff7b98c6c in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) () from /opt/ros/jazzy/lib/librclcpp.so
    No symbol table info available.
#23 0x0000aaaaaaaa1f50 in main (argc=<optimized out>, argv=<optimized out>) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/main.cpp:26
    node = <optimized out>

What's the RAM look like in this situation?

At the moment of the crash, the system was using only ~500 MB of RAM.

Attached is a picture for reference.

[SteveMacenski]

I think this line says the important part:

#11 0x0000fffff7eae014 in nav2_amcl::AmclNode::initParticleFilter (this=this@entry=0xaaaaaacd45b0) at /home/ubuntu/ros2_ws/src/navigation2/nav2_amcl/src/amcl_node.cpp:1633
    pf_init_pose_mean = {v = {-nan(0xfffffff010000), 1.4853970540215366e-313, 9.8813129168249309e-324}}
    pf_init_pose_cov = {m = {{9.2711411887811341e-310, 0, 0}, {0, 1.2055201758526416e-321, 0}, {0, 0, -nan(0xfffffff010000)}}}

This means that you have NaNs coming in from the initial pose and covariance. It makes sense that you don't have symbols for everything since you didn't compile rclcpp with debug flags and that's A-OK. The issue is NaNs in your input.

[EricoMeger]

Sorry for taking up your time, and thanks for your responses so far. Could you clarify where AMCL should be getting the initial pose and covariance from?

The backtrace I shared was generated when running AMCL without setting any initial pose in the config, and it didn’t even start for me to be able to set a pose through RViz.

Even when I explicitly set an initial pose in the config with default values like:

set_initial_pose: true 
initial_pose: 
    x: 0.0 
    y: 0.0 
    z: 0.0 
    yaw: 0.0

I still occasionally see this error.

One thing I realized after discussing with my lab partners is that this issue only started happening when we switched our DDS to Zenoh. Back when we were using Cyclone, we didn’t encounter this problem. Do you think that could be related?

[mini-1235]

One thing I realized after discussing with my lab partners is that this issue only started happening when we switched our DDS to Zenoh. Back when we were using Cyclone, we didn’t encounter this problem. Do you think that could be related?

I have tested the turtlebot4 launch with rolling + latest commit + zenoh a few days ago, it seems that AMCL is working fine for me, and I have never encountered a crash. Can you try to launch turtlebot4 and see if you can reproduce the same issue?

I do however see some test failures when running colcon_test, but I think it is not related to this issue ( I will look further into it on my weekend).

I think you can also use the command ros2 topic info -v /initialpose to check your publishers and subscribers

[SteveMacenski]

One thing I realized after discussing with my lab partners is that this issue only started happening when we switched our DDS to Zenoh. Back when we were using Cyclone, we didn’t encounter this problem. Do you think that could be related?

I do not know. Can you switch back to Cyclone to check?

[EricoMeger]

I have tested the turtlebot4 launch with rolling + latest commit + zenoh a few days ago, it seems that AMCL is working fine for me, and I have never encountered a crash.

Have you launched it on a Pi?

Can you try to launch turtlebot4 and see if you can reproduce the same issue?

I will try to test it soon

I think you can also use the command ros2 topic info -v /initialpose to check your publishers and subscribers

Yeah, as I expected, there's nothing publishing a pose to AMCL:

When AMCL runs successfully

ros2 topic info -v /initialpose
Type: geometry_msgs/msg/PoseWithCovarianceStamped

Publisher count: 0

Subscription count: 1

Node name: amcl
Node namespace: /
Topic type: geometry_msgs/msg/PoseWithCovarianceStamped
Topic type hash: RIHS01_26432f9803e43727d3c8f668d1fdb3c630f548af631e2f4e31382371bfea3b6e
Endpoint type: SUBSCRIPTION
GID: 93.fa.77.bf.d9.b7.55.4f.0f.f3.f3.45.1f.68.f4.ea
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (42)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

When a stack smashing occurs

ros2 topic info -v /initialpose
Unknown topic '/initialpose'

When the stack smashing occurs, the topic isn’t even present, which makes sense since AMCL is the only one that creates it in the first place.

I do not know. Can you switch back to Cyclone to check?

This week I ran our robot exclusively on Cyclone and wasn’t able to reproduce the issue.

Unfortunately, Cyclone isn’t a good option for us because the robot normally needs to operate on its own hotspot, and, in our tests, Cyclone performed very poorly there: too much topic latency and high CPU usage. For this week’s tests I had to run the robot on a Wi-Fi network just to be able to operate it.

We’ll be getting a NUC soon to run some tests and try to determine whether this is specific to our Pi setup. At the moment, I don’t have a second Pi to confirm if this could be hardware-specific, but running the same workspace on a different PCs didn’t reproduce the problem.

[SteveMacenski]

This week I ran our robot exclusively on Cyclone and wasn’t able to reproduce the issue.

That is indeed interesting, however means that this error is possibly to do with Zenoh specific behavior (less something we can solve fully in Nav2 I suppose). Can I suggest you file a ticket with RMW Zenoh with a minimum reproducible example (launch files, RPi, ROS 2 version, how often you expect to see it, etc)? The zettascale team is pretty responsive and I’m sure they have an RPi sitting around to reproduce and debug. It may be representing a problem on their side.

[mini-1235]

Have you launched it on a Pi?

No I do not own a Raspberry Pi :(

[EricoMeger]

Thanks for all the help so far! I’ll open an issue with Zenoh, and if I get a useful response or a solution, I’ll come back here to share what I find.

Should I go ahead and close this issue for now?

[SteveMacenski]

Sure! Make sure to link this ticket to that one to leave a trace 🙂