MoveItPy segmentation fault on teardown during object destruction (ROS 2 Jazzy, MoveIt 2.12.4)

[KevinEppacherBaubot]

Description

MoveItPy crashes with a segmentation fault during program exit when Python destroys the MoveItPy object, even after explicit shutdown() calls. The crash occurs consistently during the "Deleting MoveItCpp" phase and is independent of RMW implementation, blocking use in deterministic test environments.

ROS Distro

Jazzy

OS and version

Ubuntu 24.04.4 LTS (Noble), amd64, dev container environment

Source or binary build?

Binary

If binary, which release version?

ros-jazzy-moveit-py: 2.12.4-1noble.20260412.073026, ros-jazzy-moveit-core: 2.12.4-1noble.20260412.053952, ros-jazzy-moveit-ros: 2.12.4-1noble.20260412.075256

If source, which branch?

No response

Which RMW are you using?

FastRTPS

Steps to Reproduce

Reproduced with both:

rmw_fastrtps_cpp (8.4.3-1noble.20260412.034154)
rmw_cyclonedds_cpp (2.2.3-1noble.20260412.033317)

#!/usr/bin/env python3
import rclpy
from moveit.planning import MoveItPy
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
import os

def main():
    rclpy.init()
    
    # Load MoveIt configuration
    config_dir = os.path.join(
        get_package_share_directory("mrs15_3120_moveit_config"), 
        "config"
    )
    moveit_config = (
        MoveItConfigsBuilder("mrs15_3120", package_name="mrs15_3120_moveit_config")
        .joint_limits(file_path=os.path.join(config_dir, "joint_limits.yaml"))
        .moveit_cpp(file_path=os.path.join(config_dir, "moveit_cpp.yaml"))
        .to_moveit_configs()
    ).to_dict()
    moveit_config["use_sim_time"] = True
    
    # Initialize MoveItPy
    robot = MoveItPy(node_name="moveit_py_test", config_dict=moveit_config)
    
    # Attempt shutdown
    robot.shutdown()
    rclpy.shutdown()
    return 0

if __name__ == "__main__":
    exit(main())

moveit_cpp.yaml:

planning_scene_monitor_options:
  name: "planning_scene_monitor"
  robot_description: "robot_description"
  joint_state_topic: "/joint_states"
  attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
  publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
  monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
  wait_for_initial_state_timeout: 10.0

planning_pipelines:
  #namespace: "moveit_cpp"  # optional, default is ~
  pipeline_names: ["ompl"]

plan_request_params:
  planning_attempts: 20
  planning_pipeline: ompl
  planner_id: "PRMkConfigDefault"
  planning_time: 20.0
  max_velocity_scaling_factor: 1.0
  max_acceleration_scaling_factor: 1.0

Expected behavior

Process should exit cleanly with exit code 0 and no crash messages.

Actual behavior

1. MoveItPy initializes successfully and all planning components load (OMPL, adapters, controller manager).
2. When program terminates, a segmentation fault occurs immediately after the log line:

[INFO] ... moveit.ros.moveit_cpp: Deleting MoveItCpp
[ros2run]: Segmentation fault
``
3. Exit code is none zero:
```bash
echo $?
245

4. This occurs consistently regardless of RMW implementation (Fast DDS and Cyclone DDS both affected).
5. Calling robot.shutdown() and rclpy.shutdown() before exit does not prevent the crash, it still occurs during Python object destruction.

This prevents using MoveItPy in deterministic test environments (e.g., pytest-based integration tests with generate_test_description. Even when motion planning/execution succeeds, the segfault at teardown causes the test runner to report failure, blocking CI/CD pipelines.

Backtrace or Console output

ros2 run baubot_motion_planning_py reproduce
WARNING:root:Cannot infer URDF from /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config. -- using config/mrs15_3120.urdf
WARNING:root:Cannot infer SRDF from /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config. -- using config/mrs15_3120.srdf
WARNING:root:"File /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config/config/mrs15_3120.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[INFO] [1778240609.970275966] [moveit_3397200009.moveit.py.cpp_initializer]: Initialize rclcpp
[INFO] [1778240609.970309280] [moveit_3397200009.moveit.py.cpp_initializer]: Initialize node parameters
[INFO] [1778240609.970320703] [moveit_3397200009.moveit.py.cpp_initializer]: Initialize node and executor
[INFO] [1778240609.974044199] [moveit_3397200009.moveit.py.cpp_initializer]: Spin separate thread
[INFO] [1778240610.063729932] [moveit_3397200009.moveit.ros.rdf_loader]: Loaded robot model in 779.837 seconds
[INFO] [1778240610.063765520] [moveit_3397200009.moveit.core.robot_model]: Loading robot model 'mrs15_3120'...
[WARN] [1778240610.236061194] [moveit_3397200009.moveit.core.robot_model]: Link track_left has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[WARN] [1778240610.236104194] [moveit_3397200009.moveit.core.robot_model]: Link track_right has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[WARN] [1778240610.239618834] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[INFO] [1778240610.239710073] [moveit_3397200009.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1
[INFO] [1778240610.950237542] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[INFO] [1778240610.950333170] [moveit_3397200009.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[INFO] [1778240610.950969213] [moveit_3397200009.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[INFO] [1778240610.951164942] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[INFO] [1778240610.951173517] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[INFO] [1778240610.951293856] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[INFO] [1778240610.951456251] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[INFO] [1778240610.951501593] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[INFO] [1778240610.951642204] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[INFO] [1778240610.951648818] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[INFO] [1778240610.951853663] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[INFO] [1778240610.951984057] [moveit_3397200009.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[WARN] [1778240610.952224353] [moveit_3397200009.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1778240610.952232089] [moveit_3397200009.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[INFO] [1778240612.716702606] [moveit_3397200009.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
[INFO] [1778240612.717868041] [moveit_py_example_node]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[INFO] [1778240612.718485656] [moveit_py_example_node]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[INFO] [1778240612.718498473] [moveit_py_example_node]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[INFO] [1778240612.718633342] [moveit_py_example_node]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[INFO] [1778240612.718639699] [moveit_py_example_node]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[INFO] [1778240612.718654617] [moveit_py_example_node]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[INFO] [1778240612.718658042] [moveit_py_example_node]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[INFO] [1778240612.718667705] [moveit_py_example_node]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[INFO] [1778240612.719754643] [moveit_py_example_node]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[INFO] [1778240612.720832021] [moveit_py_example_node]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[INFO] [1778240612.720843165] [moveit_py_example_node]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[INFO] [1778240612.721769833] [moveit_py_example_node]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[INFO] [1778240612.721782890] [moveit_py_example_node]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[INFO] [1778240612.722063903] [moveit_py_example_node]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[INFO] [1778240612.739073693] [moveit_3397200009.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[INFO] [1778240612.739194543] [moveit_3397200009.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[INFO] [1778240612.739214862] [moveit_3397200009.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[INFO] [1778240612.739432791] [moveit_3397200009.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[INFO] [1778240612.740882177] [moveit_3397200009.moveit.ros.moveit_cpp]: Deleting MoveItCpp
[ros2run]: Segmentation fault

[KevinEppacherBaubot]

Adding gdb backtracke log:

gdb -batch -ex run -ex "bt full" -ex quit --args python3 /app/src/baubot_moveit/baubot_motion_p
lanning_py/baubot_motion_planning_py/reproduce.py 2>&1 | tee /app/backtrace.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff6edf6c0 (LWP 208969)]
[New Thread 0x7ffff66de6c0 (LWP 208970)]
[New Thread 0x7fffed7606c0 (LWP 208971)]
[New Thread 0x7fffecf5f6c0 (LWP 208972)]
WARNING:root:Cannot infer URDF from /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config. -- using config/mrs15_3120.urdf
WARNING:root:Cannot infer SRDF from /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config. -- using config/mrs15_3120.srdf
WARNING:root:"File /app/install/mrs15_3120_moveit_config/share/mrs15_3120_moveit_config/config/mrs15_3120.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[New Thread 0x7fffe7fff6c0 (LWP 208977)]
[New Thread 0x7fffe77fe6c0 (LWP 208980)]
[New Thread 0x7fffe6ffd6c0 (LWP 208981)]
[New Thread 0x7fffe67fc6c0 (LWP 208982)]
[New Thread 0x7fffe5ffb6c0 (LWP 208983)]
[New Thread 0x7fffe57fa6c0 (LWP 208984)]
[New Thread 0x7fffe4ff96c0 (LWP 208985)]
[New Thread 0x7fffe47f86c0 (LWP 208986)]
[New Thread 0x7fffe3ff76c0 (LWP 208987)]
[New Thread 0x7fffe37f66c0 (LWP 208988)]
[New Thread 0x7fffe2ff56c0 (LWP 208989)]
[INFO] [1778244633.178575038] [moveit_3493706911.moveit.py.cpp_initializer]: Initialize rclcpp
[INFO] [1778244633.178612109] [moveit_3493706911.moveit.py.cpp_initializer]: Initialize node parameters
[INFO] [1778244633.178617455] [moveit_3493706911.moveit.py.cpp_initializer]: Initialize node and executor
[New Thread 0x7fffe27f46c0 (LWP 208993)]
[INFO] [1778244633.183977546] [moveit_3493706911.moveit.py.cpp_initializer]: Spin separate thread
[New Thread 0x7fffe1ff36c0 (LWP 208994)]
[INFO] [1778244633.364412629] [moveit_3493706911.moveit.ros.rdf_loader]: Loaded robot model in 32.468 seconds
[INFO] [1778244633.364446059] [moveit_3493706911.moveit.core.robot_model]: Loading robot model 'mrs15_3120'...
[WARN] [1778244633.538141283] [moveit_3493706911.moveit.core.robot_model]: Link track_left has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[WARN] [1778244633.538172963] [moveit_3493706911.moveit.core.robot_model]: Link track_right has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[WARN] [1778244633.724685212] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[INFO] [1778244633.724795372] [moveit_3493706911.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1
[New Thread 0x7fffe145f6c0 (LWP 209010)]
[New Thread 0x7fffe0c5e6c0 (LWP 209018)]
[INFO] [1778244634.448117359] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffb50846c0 (LWP 209019)]
[INFO] [1778244634.448321108] [moveit_3493706911.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[INFO] [1778244634.449015861] [moveit_3493706911.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[INFO] [1778244634.449204788] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[INFO] [1778244634.449212643] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[Thread 0x7fffb50846c0 (LWP 209019) exited]
[INFO] [1778244634.449342214] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[INFO] [1778244634.449493522] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffb50846c0 (LWP 209020)]
[INFO] [1778244634.449620267] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[INFO] [1778244634.449893921] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[INFO] [1778244634.449899558] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[INFO] [1778244634.450029099] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[INFO] [1778244634.450145836] [moveit_3493706911.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[WARN] [1778244634.450391100] [moveit_3493706911.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1778244634.450399032] [moveit_3493706911.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[INFO] [1778244635.731857393] [moveit_3493706911.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
[INFO] [1778244635.732964437] [moveit_py_test]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[INFO] [1778244635.734183189] [moveit_py_test]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[INFO] [1778244635.734193200] [moveit_py_test]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[INFO] [1778244635.734325632] [moveit_py_test]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[INFO] [1778244635.734330875] [moveit_py_test]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[INFO] [1778244635.734346317] [moveit_py_test]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[INFO] [1778244635.734349550] [moveit_py_test]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[INFO] [1778244635.734359794] [moveit_py_test]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[INFO] [1778244635.735367843] [moveit_py_test]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[INFO] [1778244635.738708342] [moveit_py_test]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[INFO] [1778244635.738722756] [moveit_py_test]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[INFO] [1778244635.741303346] [moveit_py_test]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[INFO] [1778244635.741321320] [moveit_py_test]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[INFO] [1778244635.741675594] [moveit_py_test]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[INFO] [1778244635.767715049] [moveit_3493706911.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[New Thread 0x7fffa7df36c0 (LWP 209043)]
[INFO] [1778244635.767915384] [moveit_3493706911.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[INFO] [1778244635.767931161] [moveit_3493706911.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[INFO] [1778244635.768140019] [moveit_3493706911.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[Thread 0x7fffa7df36c0 (LWP 209043) exited]
[Thread 0x7fffe0c5e6c0 (LWP 209018) exited]
[Thread 0x7fffe145f6c0 (LWP 209010) exited]
[Thread 0x7fffe1ff36c0 (LWP 208994) exited]
[Thread 0x7fffe27f46c0 (LWP 208993) exited]
[Thread 0x7fffb50846c0 (LWP 209020) exited]
[Thread 0x7fffe7fff6c0 (LWP 208977) exited]
[Thread 0x7fffecf5f6c0 (LWP 208972) exited]
[INFO] [1778244635.769996027] [moveit_3493706911.moveit.ros.moveit_cpp]: Deleting MoveItCpp

Thread 1 "python3" received signal SIGSEGV, Segmentation fault.
0x00007ffff59a60d9 in rclcpp::CallbackGroup::~CallbackGroup() () from /opt/ros/jazzy/lib/librclcpp.so
#0 0x00007ffff59a60d9 in rclcpp::CallbackGroup::~CallbackGroup() () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#1 0x00007ffff59a15da in ?? () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#2 0x00007ffff59e4c64 in rclcpp::node_interfaces::NodeBase::~NodeBase() () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#3 0x00007ffff59e4d21 in ?? () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#4 0x00007ffff59a1516 in ?? () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#5 0x00007ffff59e6455 in rclcpp::Node::~Node() () from /opt/ros/jazzy/lib/librclcpp.so
No symbol table info available.
#6 0x00007fffef05f5a6 in ?? () from /opt/ros/jazzy/lib/libmoveit_trajectory_execution_manager.so.2.12.4
No symbol table info available.
#7 0x00007fffef04d44b in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager() () from /opt/ros/jazzy/lib/libmoveit_trajectory_execution_manager.so.2.12.4
No symbol table info available.
#8 0x00007fffef0c898a in ?? () from /opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4
No symbol table info available.
#9 0x00007fffef0c8ad1 in moveit_cpp::MoveItCpp::~MoveItCpp() () from /opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4
No symbol table info available.
#10 0x00007fffef10a9cf in ?? () from /opt/ros/jazzy/lib/python3.12/site-packages/moveit/planning.cpython-312-x86_64-linux-gnu.so
No symbol table info available.
#11 0x00007fffef0fe11a in ?? () from /opt/ros/jazzy/lib/python3.12/site-packages/moveit/planning.cpython-312-x86_64-linux-gnu.so
No symbol table info available.
#12 0x00007fffef10a84c in ?? () from /opt/ros/jazzy/lib/python3.12/site-packages/moveit/planning.cpython-312-x86_64-linux-gnu.so
No symbol table info available.
#13 0x00007ffff75171fb in ?? () from /opt/ros/jazzy/lib/python3.12/site-packages/rclpy/_rclpy_pybind11.cpython-312-x86_64-linux-gnu.so
No symbol table info available.
#14 0x00000000005f7b7d in ?? ()
No symbol table info available.
#15 0x00000000005e3534 in ?? ()
No symbol table info available.
#16 0x00000000005d7980 in _PyEval_EvalFrameDefault ()
No symbol table info available.
#17 0x00000000005d58bb in PyEval_EvalCode ()
No symbol table info available.
#18 0x0000000000608b52 in ?? ()
No symbol table info available.
#19 0x00000000006b5263 in ?? ()
No symbol table info available.
#20 0x00000000006b4fca in _PyRun_SimpleFileObject ()
No symbol table info available.
#21 0x00000000006b4dff in _PyRun_AnyFileObject ()
No symbol table info available.
#22 0x00000000006bce65 in Py_RunMain ()
No symbol table info available.
#23 0x00000000006bc94d in Py_BytesMain ()
No symbol table info available.
#24 0x00007ffff7c831ca in __libc_start_call_main (main=main@entry=0x518c60, argc=argc@entry=2, argv=argv@entry=0x7fffffffc468) at ../sysdeps/nptl/libc_start_call_main.h:58
self =
result =
unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140737488340072, 2818623514901199172, 2, 0, 10649040, 140737354125312, 2818623514886519108, 2818641251585079620}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x2, 0x7fffffffc460}, data = {prev = 0x0, cleanup = 0x0, canceltype = 2}}}
not_first_call =
#25 0x00007ffff7c8328b in __libc_start_main_impl (main=0x518c60, argc=2, argv=0x7fffffffc468, init=, fini=, rtld_fini=, stack_end=0x7fffffffc458) at ../csu/libc-start.c:360
No locals.
#26 0x0000000000657b05 in _start ()
No symbol table info available.
A debugging session is active.

    Inferior 1 [process 208960] will be killed.

Quit anyway? (y or n) [answered Y; input not from terminal]

[Ravindar10]

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[dparikh79]

I took a look at this. The diagnosis from the stack trace and the source line up cleanly with the destructor in moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp.

Root cause

In the MoveItPy.__init__ binding, the executor spin thread is detached, then a custom shared-ptr deleter is wired up like this (moveit2 main, lines 133-140):

std::thread execution_thread(spin_node);
execution_thread.detach();

auto custom_deleter = [executor](moveit_cpp::MoveItCpp* moveit_cpp) {
  executor->cancel();
  rclcpp::shutdown();
  delete moveit_cpp;
};

The order in the deleter is the problem:

1. executor->cancel() signals the spin thread to stop but does not wait for it (the thread is detached, so we cannot join).
2. rclcpp::shutdown() shuts down the global rclcpp context, invalidating every node attached to it.
3. delete moveit_cpp then walks the destructor chain through TrajectoryExecutionManager::~TrajectoryExecutionManager(), which destroys the internal rclcpp::Node it owns, which destroys its CallbackGroup objects against a context that is already finalized.

That maps directly onto the reporter's stack:

#0  rclcpp::CallbackGroup::~CallbackGroup()
#2  rclcpp::node_interfaces::NodeBase::~NodeBase()
#5  rclcpp::Node::~Node()
#7  trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
#9  moveit_cpp::MoveItCpp::~MoveItCpp()

Why some configurations crash and others only leak

I tried to reproduce in a clean container with ros:jazzy-ros-base + matching moveit-py 2.12.4-1noble.20260412.073026, using the panda demo config wired through MoveItConfigsBuilder.trajectory_execution(file_path="config/moveit_controllers.yaml") so simple_controller_manager actually loads (Added FollowJointTrajectory controller for panda_arm_controller). With that setup the process does not SIGSEGV, but the destructor chain still emits the matching symptom from the same race:

[rcl|context.c:157] failed to finalize rmw context while cleaning up context,
  memory may be leaked: Finalizing a context with active nodes, at ./src/rmw_init.cpp:159
[ERROR] [rclcpp]: failed to finalize context: error not set

That is the same condition (nodes alive when the context is finalized); whether it surfaces as a leak warning or a hard crash depends on how many callback groups the trajectory_execution_manager's controller plugin has wired up at destruction time. The reporter's mrs15_3120_moveit_config runs FollowJointTrajectory controller for joint_trajectory_controller with a live URDF and several monitors, so the callback-group destruction path is fully populated and the use-after-free becomes lethal.

Secondary issue worth fixing in the same place

Lines 103-114 only call rclcpp::init(...) if (!rclcpp::ok()). When users call rclpy.init() before constructing MoveItPy (the common pattern, including the reporter's reproducer), MoveItCpp piggy-backs on rclpy's context. The custom deleter then calls rclcpp::shutdown() on that same context, which silently takes rclpy down too. Calling MoveItPy(...) should not shut down a context it did not initialize.

Proposed fix sketch

Two changes in initMoveitPy:

1. Track whether MoveItPy initialized rclcpp itself. Only call rclcpp::shutdown() in the deleter when it did.
2. Keep the executor thread joinable, capture its handle in the deleter, and reorder so the destructor runs against a still-valid context:

const bool we_init_rclcpp = !rclcpp::ok();
if (we_init_rclcpp)
{
  rclcpp::init(launch_arguments.size(), chars.data());
  RCLCPP_INFO(getLogger(), "Initialize rclcpp");
}

// ...

auto execution_thread = std::make_shared<std::thread>(spin_node);

auto custom_deleter = [executor, execution_thread, we_init_rclcpp]
                       (moveit_cpp::MoveItCpp* moveit_cpp) {
  executor->cancel();
  if (execution_thread->joinable())
  {
    execution_thread->join();
  }
  delete moveit_cpp;
  if (we_init_rclcpp)
  {
    rclcpp::shutdown();
  }
};

The shutdown() method on the binding (line 177) is also worth a look: it calls rclcpp::shutdown() globally without touching the executor that this MoveItPy instance owns, which has the same "I just turned off rclpy" surprise.

Happy to open a PR with the above if a maintainer is open to it. I have not yet validated end to end against a config that reproduces the SIGSEGV (only against panda where it surfaces as the matching leak warning), so I would want to confirm against either the reporter's mrs15_3120_moveit_config or a test fixture that exercises a live controller manager before sending it.

(Disclosure: analysis assisted by Claude; I am the human contributor reviewing and posting.)