Nav2 crashes after latest Rolling sync due to BT.CPP

[mini-1235]

Bug report

Required Info:

• Operating System:
  • Ubuntu 24.04

• Computer:

• ROS2 Version:
  • Rolling
• Version or commit hash:
  • Latest Commit
• DDS implementation:
  • Tried cyclone/zenoh

Expected behavior

Nav2 works normally

Actual behavior

Nav2 crashes

Reproduction instructions

1. ros2 launch nav2_bringup tb4_simulation_launch.py headless:=0

Additional information

The latest sync on rolling updates BTCPP from 4.7.2 to 4.8.0, this causes Nav2 to crash immediately

Backtrace:

[planner_server-18] #14   Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x7bfa7f26728a]
[planner_server-18] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7bfa7f2671c9]
[planner_server-18] #12   Object "/root/nav2_ws/build/nav2_planner/planner_server", at 0x5e15b1f8d501, in main
[planner_server-18] #11   Object "/root/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so", at 0x7bfa7fa0d2a1, in nav2_planner::PlannerServer::PlannerServer(rclcpp::NodeOptions const&)
[planner_server-18] #10   Object "/root/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so", at 0x7bfa7fa50fc1, in pluginlib::ClassLoader<[nav2_core::GlobalPlanner](https://github.com/ros-navigation/navigation2/issues/nav2_core::GlobalPlanner)>::ClassLoader(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >)
[planner_server-18] #9    Object "/root/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so", at 0x7bfa7fa50961, in pluginlib::ClassLoader<[nav2_core::GlobalPlanner](https://github.com/ros-navigation/navigation2/issues/nav2_core::GlobalPlanner)>::determineAvailableClasses(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
[planner_server-18] #8    Object "/root/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so", at 0x7bfa7fa4dda4, in pluginlib::ClassLoader<[nav2_core::GlobalPlanner](https://github.com/ros-navigation/navigation2/issues/nav2_core::GlobalPlanner)>::processSingleXMLPluginFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, pluginlib::ClassDesc, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, pluginlib::ClassDesc> > >&)
[planner_server-18] #7    Object "/opt/ros/rolling/lib/libbehaviortree_cpp.so", at 0x7bfa7f128769, in tinyxml2::XMLDocument::~XMLDocument()
[planner_server-18] #6    Source "./malloc/malloc.c", line 3398, in __libc_free [0x7bfa7f2eadad]
[planner_server-18] #5    Source "./malloc/malloc.c", line 4507, in _int_free [0x7bfa7f2e838b]
[planner_server-18] #4    Source "./malloc/malloc.c", line 5772, in malloc_printerr [0x7bfa7f2e5ff4]
[planner_server-18] #3    Source "../sysdeps/posix/libc_fatal.c", line 134, in __libc_message_impl [0x7bfa7f2667b5]
[planner_server-18] #2    Source "./stdlib/abort.c", line 79, in abort [0x7bfa7f2658fe]
[planner_server-18] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7bfa7f28227d]
[planner_server-18] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[planner_server-18]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[planner_server-18]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7bfa7f2dbb2c]
[planner_server-18] Aborted (Signal sent by tkill() 606035 0)

Downgrading to 4.7.2 solves the issue. I am not sure why CI is working properly, maybe because we are still having 4.6.2(?)

navigation2/tools/underlay.repos

Lines 1 to 5 in 47327a5

	repositories:
	BehaviorTree/BehaviorTree.CPP:
	type: git
	url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
	version: 4.6.2

I will also file a ticket to BTCPP tonight BehaviorTree/BehaviorTree.CPP#1028

[SteveMacenski]

Neat. Thanks for the report & following up with Davide on it. I see this behavior as well :(

[mini-1235]

@SteveMacenski, I will keep this issue open until next Rolling's release