ROS2 Topic Re-Publisher crashes with segfault in Jazzy due to JumpHandler initialization #112

Labels

• bug
• ros2
• jazzy

Description

Environment

• ROS Distribution: ROS2 Jazzy
• PlotJuggler Version: 3.15.0 (from apt: ros-jazzy-plotjuggler-ros 2.3.1)
• OS: Ubuntu 24.04 (Noble)
• Plugin: libTopicPublisherROS2.so

Problem

The ROS2 Topic Re-Publisher plugin crashes with a segmentation fault when enabled in ROS2 Jazzy. The same plugin works correctly in ROS2 Humble.

Steps to Reproduce

1. Install PlotJuggler on ROS2 Jazzy: sudo apt install ros-jazzy-plotjuggler-ros
2. Launch PlotJuggler: ros2 run plotjuggler plotjuggler
3. Load any ROS2 bag file
4. Enable topic re-streaming by clicking the checkbox in the toolbar
5. Crash occurs immediately with segfault

Stack Trace

Stack trace (most recent call last):
#3  Source "publisher_ros2.cpp", line 112, in TopicPublisherROS2::setEnabled(bool)
#2  Source "publisher_ros2.cpp", line 65, in TopicPublisherROS2::updatePublishers()
    Source "generic_publisher.h", line 54, in GenericPublisher::create(...)
    Source "generic_publisher.h", line 31, in GenericPublisher::GenericPublisher(...)
#1  Object "/opt/ros/jazzy/lib/librclcpp.so", in rclcpp::PublisherBase::PublisherBase(..., PublisherEventCallbacks const&, bool)
#0  Object "/opt/ros/jazzy/lib/librclcpp.so", in rclcpp::JumpHandler::JumpHandler(...)
Segmentation fault (Signal sent by the kernel [(nil)])