Occasional crash in planner_server due to tf2_ros::CreateTimerROS::remove() #838
Description
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