Occasional crash in planner_server due to tf2_ros::CreateTimerROS::remove()

[Earl-chen]

Generated by Generative AI

No response

Operating System:

Linux localhost 5.10.110 ros2/ros2#270 SMP PREEMPT Thu Sep 11 11:28:51 CST 2025 aarch64 aarch64 aarch64 GNU/Linux

ROS version or commit hash:

humble

RMW implementation (if applicable):

rmw_cyclonedds_cpp

RMW Configuration (if applicable):

export ROS_LOCALHOST_ONLY=1

Client library (if applicable):

No response

'ros2 doctor --report' output

ros2 doctor --report

   PACKAGE VERSIONS
person_recog                              : latest=, local=0.0.0
nav_path_watcher                          : latest=, local=0.0.0
ldlidar                                   : latest=, local=0.0.0
common_palm_vein_interfaces               : latest=, local=0.0.0
common_msgs                               : latest=, local=0.0.0
common_interfaces                         : latest=4.9.0, local=0.0.0
com_mcu                                   : latest=, local=0.0.0
com_mcu_interfaces                        : latest=, local=0.0.0
bm661_ros2                                : latest=, local=0.0.0
test_tf_listener                          : latest=, local=0.0.1
teb_local_planner                         : latest=, local=0.9.1
teb_msgs                                  : latest=, local=0.0.1
start_slam_simulation                     : latest=, local=0.0.0
start_slam_robot                          : latest=, local=0.0.0
slam_alg_interface                        : latest=, local=0.0.0
robot_pose_provider                       : latest=, local=1.1.12
rviz_polygon_selection_tool               : latest=, local=1.1.0
nav2_bringup                              : latest=1.1.19, local=1.1.6
navigation2                               : latest=1.1.19, local=1.1.6
nav2_smoother                             : latest=1.1.19, local=1.1.6
nav2_dwb_controller                       : latest=1.1.19, local=1.1.6
nav2_controller                           : latest=1.1.19, local=1.1.6
dwb_plugins                               : latest=1.1.19, local=1.1.6
dwb_critics                               : latest=1.1.19, local=1.1.6
dwb_core                                  : latest=1.1.19, local=1.1.6
nav_2d_utils                              : latest=1.1.19, local=1.1.6
dwb_msgs                                  : latest=1.1.19, local=1.1.6
nav_2d_msgs                               : latest=1.1.19, local=1.1.6
nav2_waypoint_follower                    : latest=1.1.19, local=1.1.6
nav2_theta_star_planner                   : latest=1.1.19, local=1.1.6
nav2_smac_planner                         : latest=1.1.19, local=1.1.6
nav2_rotation_shim_controller             : latest=1.1.19, local=1.1.6
nav2_regulated_pure_pursuit_controller    : latest=1.1.19, local=1.1.6
nav2_planner                              : latest=1.1.19, local=1.1.6
nav2_navfn_planner                        : latest=1.1.19, local=1.1.6
nav2_mppi_controller                      : latest=1.1.19, local=1.1.12
nav2_edge_planner                         : latest=, local=1.0.0
nav2_edge_controller                      : latest=, local=1.1.6
nav2_curve_planner                        : latest=, local=0.0.0
nav2_coverage_planner                     : latest=, local=1.0.0
nav2_constrained_smoother                 : latest=1.1.19, local=1.1.6
nav2_bt_navigator                         : latest=1.1.19, local=1.1.13
nav2_behaviors                            : latest=1.1.19, local=1.1.6
nav2_core                                 : latest=1.1.19, local=1.1.6
nav2_collision_monitor                    : latest=1.1.19, local=1.1.6
costmap_queue                             : latest=1.1.19, local=1.1.6
costmap_converter                         : latest=, local=0.1.2
nav2_costmap_2d                           : latest=1.1.19, local=1.1.6
nav2_voxel_grid                           : latest=1.1.19, local=1.1.6
nav2_velocity_smoother                    : latest=1.1.19, local=1.1.6
nav2_map_server                           : latest=1.1.19, local=1.1.6
nav2_lifecycle_manager                    : latest=1.1.19, local=1.1.6
nav2_behavior_tree                        : latest=1.1.19, local=1.1.6
nav2_amcl                                 : latest=1.1.19, local=1.1.6
nav2_util                                 : latest=1.1.19, local=1.1.6
nav2_simple_commander                     : latest=1.1.19, local=1.1.6
depth_camera_obstacle_detection           : latest=, local=0.0.0
nav2_msgs                                 : latest=1.1.19, local=1.1.6
nav2_common                               : latest=1.1.19, local=1.1.6
map_beautifier                            : latest=, local=0.0.0
costmap_converter_msgs                    : latest=, local=0.1.2
eigen3_cmake_module                       : latest=0.1.1, local=0.1.1
ament_cmake_cpplint                       : latest=0.12.14, local=0.12.6
statistics_msgs                           : latest=1.2.2, local=1.2.1
rosidl_typesupport_fastrtps_c             : latest=2.2.3, local=2.2.0
domain_coordinator                        : latest=0.10.0, local=0.10.0
geometry2                                 : latest=0.25.17, local=0.25.2
zstd_vendor                               : latest=0.15.15, local=0.15.5
ros2param                                 : latest=0.18.14, local=0.18.6
stereo_msgs                               : latest=4.9.0, local=4.2.3
tf2_py                                    : latest=0.25.17, local=0.25.2
orocos_kdl_vendor                         : latest=0.2.5, local=0.2.5
rosidl_cmake                              : latest=3.1.7, local=3.1.4
ament_index_python                        : latest=1.4.0, local=1.4.0
rosidl_typesupport_interface              : latest=3.1.7, local=3.1.4
ros2bag                                   : latest=0.15.15, local=0.15.5
ros2service                               : latest=0.18.14, local=0.18.6
rclcpp_components                         : latest=16.0.15, local=16.0.4
ament_cmake_libraries                     : latest=1.3.12, local=1.3.4
rosidl_generator_c                        : latest=3.1.7, local=3.1.4
ros2run                                   : latest=0.18.14, local=0.18.6
ament_cmake_include_directories           : latest=1.3.12, local=1.3.4
tf2_ros                                   : latest=0.25.17, local=0.25.2
ros2cli                                   : latest=0.18.14, local=0.18.6
ros2lifecycle                             : latest=0.18.14, local=0.18.6
ament_pep257                              : latest=0.12.14, local=0.12.6
ament_cmake_flake8                        : latest=0.12.14, local=0.12.6
std_srvs                                  : latest=4.9.0, local=4.2.3
class_loader                              : latest=2.2.0, local=2.2.0
tf2_geometry_msgs                         : latest=0.25.17, local=0.25.2
ament_package                             : latest=0.14.1, local=0.14.0
ament_uncrustify                          : latest=0.12.14, local=0.12.6
rosidl_typesupport_c                      : latest=2.0.2, local=2.0.0
osrf_pycommon                             : latest=2.1.6, local=2.0.2
tf2_eigen                                 : latest=0.25.17, local=0.25.2
tf2_tools                                 : latest=0.25.17, local=0.25.2
geometry_msgs                             : latest=4.9.0, local=4.2.3
tracetools                                : latest=4.1.1, local=4.1.1
behaviortree_cpp_v3                       : latest=3.8.7, local=3.8.3
rcpputils                                 : latest=2.4.6, local=2.4.1
rosidl_cli                                : latest=3.1.7, local=3.1.4
nav_msgs                                  : latest=4.9.0, local=4.2.3
ros2action                                : latest=0.18.14, local=0.18.6
ros_workspace                             : latest=1.0.2, local=1.0.2
rcl                                       : latest=5.3.11, local=5.3.3
laser_geometry                            : latest=2.4.1, local=2.4.0
map_msgs                                  : latest=2.1.0, local=2.1.0
rosbag2_cpp                               : latest=0.15.15, local=0.15.5
rcl_logging_interface                     : latest=2.3.1, local=2.3.1
pybind11_vendor                           : latest=2.4.2, local=2.4.2
ament_cmake_gtest                         : latest=1.3.12, local=1.3.4
pluginlib                                 : latest=5.1.2, local=5.1.0
ament_copyright                           : latest=0.12.14, local=0.12.6
ros2component                             : latest=0.18.14, local=0.18.6
ros2doctor                                : latest=0.18.14, local=0.18.6
ament_cmake_test                          : latest=1.3.12, local=1.3.4
rosidl_typesupport_cpp                    : latest=2.0.2, local=2.0.0
rosidl_adapter                            : latest=3.1.7, local=3.1.4
rclpy                                     : latest=3.3.18, local=3.3.8
rmw_cyclonedds_cpp                        : latest=1.3.4, local=1.3.4
ament_cmake_export_dependencies           : latest=1.3.12, local=1.3.4
ament_cmake_pep257                        : latest=0.12.14, local=0.12.6
ament_cmake_export_targets                : latest=1.3.12, local=1.3.4
spdlog_vendor                             : latest=1.3.1, local=1.3.1
sensor_msgs                               : latest=4.9.0, local=4.2.3
rosidl_runtime_py                         : latest=0.9.3, local=0.9.3
rosbag2_compression                       : latest=0.15.15, local=0.15.5
ros_core                                  : latest=0.10.0, local=0.10.0
launch                                    : latest=1.0.12, local=1.0.4
ament_cmake_copyright                     : latest=0.12.14, local=0.12.6
composition_interfaces                    : latest=1.2.2, local=1.2.1
libyaml_vendor                            : latest=1.2.2, local=1.2.2
ament_index_cpp                           : latest=1.4.0, local=1.4.0
rcl_action                                : latest=5.3.11, local=5.3.3
rosidl_parser                             : latest=3.1.7, local=3.1.4
smclib                                    : latest=4.1.2, local=3.0.2
ament_cmake_python                        : latest=1.3.12, local=1.3.4
ament_lint                                : latest=0.12.14, local=0.12.6
ament_cmake                               : latest=1.3.12, local=1.3.4
ros2interface                             : latest=0.18.14, local=0.18.6
ament_cmake_lint_cmake                    : latest=0.12.14, local=0.12.6
actionlib_msgs                            : latest=4.9.0, local=4.2.3
tinyxml2_vendor                           : latest=0.7.6, local=0.7.5
cv_bridge                                 : latest=3.2.1, local=3.2.1
demo_nodes_cpp                            : latest=0.20.6, local=0.20.3
rcutils                                   : latest=5.1.7, local=5.1.3
std_msgs                                  : latest=4.9.0, local=4.2.3
ament_cmake_target_dependencies           : latest=1.3.12, local=1.3.4
ament_lint_auto                           : latest=0.12.14, local=0.12.6
rclcpp                                    : latest=16.0.15, local=16.0.4
tf2_eigen_kdl                             : latest=0.25.17, local=0.25.2
shape_msgs                                : latest=4.9.0, local=4.2.3
sqlite3_vendor                            : latest=0.15.15, local=0.15.5
lifecycle_msgs                            : latest=1.2.2, local=1.2.1
trajectory_msgs                           : latest=4.9.0, local=4.2.3
fastrtps_cmake_module                     : latest=2.2.3, local=2.2.0
rosidl_generator_py                       : latest=0.14.6, local=0.14.4
rpyutils                                  : latest=0.2.2, local=0.2.1
ros2pkg                                   : latest=0.18.14, local=0.18.6
ament_cppcheck                            : latest=0.12.14, local=0.12.6
rosbag2_interfaces                        : latest=0.15.15, local=0.15.5
sensor_msgs_py                            : latest=4.9.0, local=4.2.3
ament_lint_common                         : latest=0.12.14, local=0.12.6
rosidl_default_generators                 : latest=1.2.0, local=1.2.0
ament_cmake_auto                          : latest=1.3.12, local=1.3.4
ament_cmake_xmllint                       : latest=0.12.14, local=0.12.6
launch_xml                                : latest=1.0.12, local=1.0.4
bond                                      : latest=4.1.2, local=3.0.2
rosidl_typesupport_introspection_cpp      : latest=3.1.7, local=3.1.4
ament_cmake_export_libraries              : latest=1.3.12, local=1.3.4
rosidl_default_runtime                    : latest=1.2.0, local=1.2.0
launch_testing_ament_cmake                : latest=1.0.12, local=1.0.4
kdl_parser                                : latest=2.6.4, local=2.6.4
bondcpp                                   : latest=4.1.2, local=3.0.2
rmw_implementation_cmake                  : latest=6.1.2, local=6.1.1
ros2node                                  : latest=0.18.14, local=0.18.6
rcl_yaml_param_parser                     : latest=5.3.11, local=5.3.3
rmw                                       : latest=6.1.2, local=6.1.1
rosbag2                                   : latest=0.15.15, local=0.15.5
rosbag2_py                                : latest=0.15.15, local=0.15.5
urdf_parser_plugin                        : latest=2.6.1, local=2.6.0
ament_cmake_uncrustify                    : latest=0.12.14, local=0.12.6
launch_ros                                : latest=0.19.12, local=0.19.4
tf2_bullet                                : latest=0.25.17, local=0.25.2
launch_yaml                               : latest=1.0.12, local=1.0.4
rmw_implementation                        : latest=2.8.5, local=2.8.2
ament_cmake_export_include_directories    : latest=1.3.12, local=1.3.4
tf2_sensor_msgs                           : latest=0.25.17, local=0.25.2
ros2cli_common_extensions                 : latest=0.1.1, local=0.1.1
rosidl_runtime_c                          : latest=3.1.7, local=3.1.4
rosbag2_storage_default_plugins           : latest=0.15.15, local=0.15.5
launch_testing                            : latest=1.0.12, local=1.0.4
ament_cmake_gmock                         : latest=1.3.12, local=1.3.4
ament_cmake_export_link_flags             : latest=1.3.12, local=1.3.4
rosbag2_transport                         : latest=0.15.15, local=0.15.5
rosgraph_msgs                             : latest=1.2.2, local=1.2.1
rosidl_typesupport_fastrtps_cpp           : latest=2.2.3, local=2.2.0
tf2_kdl                                   : latest=0.25.17, local=0.25.2
ament_cmake_pytest                        : latest=1.3.12, local=1.3.4
ros2multicast                             : latest=0.18.14, local=0.18.6
rosbag2_compression_zstd                  : latest=0.15.15, local=0.15.5
yaml_cpp_vendor                           : latest=8.0.2, local=8.0.2
tf2                                       : latest=0.25.17, local=0.25.2
rcl_interfaces                            : latest=1.2.2, local=1.2.1
example_interfaces                        : latest=0.9.3, local=0.9.3
ament_xmllint                             : latest=0.12.14, local=0.12.6
rcl_logging_spdlog                        : latest=2.3.1, local=2.3.1
demo_nodes_py                             : latest=0.20.6, local=0.20.3
ament_cmake_version                       : latest=1.3.12, local=1.3.4
ament_cpplint                             : latest=0.12.14, local=0.12.6
sros2                                     : latest=0.10.7, local=0.10.4
rosbag2_storage                           : latest=0.15.15, local=0.15.5
visualization_msgs                        : latest=4.9.0, local=4.2.3
sros2_cmake                               : latest=0.10.7, local=0.10.4
ament_cmake_core                          : latest=1.3.12, local=1.3.4
rmw_dds_common                            : latest=1.6.0, local=1.6.0
ament_cmake_cppcheck                      : latest=0.12.14, local=0.12.6
ament_cmake_export_interfaces             : latest=1.3.12, local=1.3.4
ros2topic                                 : latest=0.18.14, local=0.18.6
rosidl_typesupport_introspection_c        : latest=3.1.7, local=3.1.4
shared_queues_vendor                      : latest=0.15.15, local=0.15.5
uncrustify_vendor                         : latest=2.0.2, local=2.0.2
launch_testing_ros                        : latest=0.19.12, local=0.19.4
ros2launch                                : latest=0.19.12, local=0.19.4
ament_cmake_export_definitions            : latest=1.3.12, local=1.3.4
ament_lint_cmake                          : latest=0.12.14, local=0.12.6
tf2_msgs                                  : latest=0.25.17, local=0.25.2
message_filters                           : latest=4.3.11, local=4.3.3
rmw_fastrtps_cpp                          : latest=6.2.9, local=6.2.2
rosidl_runtime_cpp                        : latest=3.1.7, local=3.1.4
console_bridge_vendor                     : latest=1.4.1, local=1.4.1
tf2_ros_py                                : latest=0.25.17, local=0.25.2
urdf                                      : latest=2.6.1, local=2.6.0
unique_identifier_msgs                    : latest=2.2.1, local=2.2.1
robot_state_publisher                     : latest=3.0.3, local=3.0.2
action_msgs                               : latest=1.2.2, local=1.2.1
ros_environment                           : latest=3.2.2, local=3.2.2
ament_cmake_ros                           : latest=0.10.0, local=0.10.0
rosidl_generator_cpp                      : latest=3.1.7, local=3.1.4
diagnostic_msgs                           : latest=4.9.0, local=4.2.3
ament_cmake_gen_version_h                 : latest=1.3.12, local=1.3.4
libstatistics_collector                   : latest=1.3.4, local=1.3.1
builtin_interfaces                        : latest=1.2.2, local=1.2.1
rclcpp_lifecycle                          : latest=16.0.15, local=16.0.4
rcl_lifecycle                             : latest=5.3.11, local=5.3.3
rmw_fastrtps_shared_cpp                   : latest=6.2.9, local=6.2.2
tinyxml_vendor                            : latest=0.8.3, local=0.8.3
ament_flake8                              : latest=0.12.14, local=0.12.6
ros_base                                  : latest=0.10.0, local=0.10.0
keyboard_handler                          : latest=0.0.5, local=0.0.5
python_cmake_module                       : latest=0.10.0, local=0.10.0
rclcpp_action                             : latest=16.0.15, local=16.0.4

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.10.110-aarch64-with-glibc2.35
release          : 5.10.110
processor        : aarch64

Steps to reproduce issue

---

🐛 Description

The planner_server occasionally crashes.
A core dump was generated, and the backtrace is shown below.

---

💥 Crash Backtrace

[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
Core was generated by `/maxData/app/slam/Slam_ws/humble_ws/install/nav2_planner/lib/nav2_planner/plann'.
Program terminated with signal SIGABRT, Aborted.
#0  __pthread_kill_implementation (threadid=531277998240, signo=6, no_tid=0) at ./nptl/pthread_kill.c:44
44    ./nptl/pthread_kill.c: No such file or directory.
[Current thread is 1 (Thread 0x7bb2a2e8a0 (LWP 7564))]
(gdb) bt
#0  __pthread_kill_implementation (...) at ./nptl/pthread_kill.c:44
ros2/ros2#1  0x0000007be220f254 in __pthread_kill_internal (...) at ./nptl/pthread_kill.c:78
ros2/ros2#2  0x0000007be21ca67c in __GI_raise (sig=6) at ../sysdeps/posix/raise.c:26
ros2/ros2#3  0x0000007be21b7130 in __GI_abort () at ./stdlib/abort.c:79
ros2/ros2#4  0x0000007be24151fc in __gnu_cxx::__verbose_terminate_handler() () from /lib/aarch64-linux-gnu/libstdc++.so.6
ros2/ros2#5  0x0000007be24129dc in ?? () from /lib/aarch64-linux-gnu/libstdc++.so.6
ros2/ros2#6  0x0000007be2412a40 in std::terminate() () from /lib/aarch64-linux-gnu/libstdc++.so.6
ros2/ros2#7  0x0000007be2412d24 in __cxa_throw () from /lib/aarch64-linux-gnu/libstdc++.so.6
ros2/ros2#8  0x0000007be18cb64c in tf2_ros::CreateTimerROS::remove(unsigned long const&) () from /opt/ros/humble/lib/libtf2_ros.so
ros2/ros2#9  0x0000007be18c48b4 in tf2_ros::Buffer::timerCallback(...) () from /opt/ros/humble/lib/libtf2_ros.so
ros2/ros2#10 ...

---

🧾 Additional Logs

At the same time, a large number of the following log messages were observed:

[INFO] [2025-10-29 16:12:04.019751] [global_costmap.global_costmap]: 
Message Filter dropping message: frame 'laser' at time 1761725523.682 
for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[INFO] [2025-10-29 16:12:04.052213] [global_costmap.global_costmap]: 
Message Filter dropping message: frame 'laser' at time 1761725523.718 
for reason 'the timestamp on the message is earlier than all the data in the transform cache'

---

🔁 Frequency

This issue occurs sporadically (not every run).

---

❓ Questions

• What could be the possible cause of this crash?
• Is there a known fix or workaround for this issue?
• Please let me know if more diagnostic information is needed.

---

Expected behavior

The program should not crash, and no “Message Filter dropping message” logs should appear.

Actual behavior

The program crashes, which may be related to the “Message Filter dropping message” log messages.

Additional information

No response

[mattbooker]

From the 'ros2 doctor --report' output section it looks like your version of geometry2 is 0.25.2

geometry2 0.25.2 does not have this fix #474 which seems to line up with what you are experiencing.

Try upgrading your geometry2 version and see if it happens again?

[sloretz]

Looks like the fix was backported to Humble in 0.25.4 https://github.com/ros2/geometry2/blob/humble/tf2_ros/CHANGELOG.rst#0254-2023-09-19