Gdb trace during RMF Perform Action Cancellation

gistfile1.txt

#0  std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_get_use_count (this=0x21a0) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:216
#1  0x00007ffff5c7e819 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_add_ref_lock_nothrow (this=0x21a0)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:258
#2  0x00007ffff5c7e788 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count (this=0x7fffce1fa148, __r=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:883
#3  0x00007ffff56099d9 in std::__shared_ptr<rmf_fleet_adapter::agv::RobotUpdateHandle::ActionExecution::Implementation::Data, (__gnu_cxx::_Lock_policy)2>::__shared_ptr (this=0x7fffce1fa140, __r=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:1353
#4  0x00007ffff560999d in std::shared_ptr<rmf_fleet_adapter::agv::RobotUpdateHandle::ActionExecution::Implementation::Data>::shared_ptr (this=0x7fffce1fa140, 
    __r=<error reading variable: Cannot access memory at address 0x21a8>) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr.h:418
#5  0x00007ffff5605043 in std::weak_ptr<rmf_fleet_adapter::agv::RobotUpdateHandle::ActionExecution::Implementation::Data>::lock (this=0x7fffb4597778)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr.h:750
#6  0x00007ffff5601e94 in rmf_fleet_adapter::events::PerformAction::Active::cancel (this=0x7fffb45976a0)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/events/PerformAction.cpp:227
#7  0x00007ffff298c23d in rmf_task_sequence::events::internal::Sequence::Active::cancel (this=0x7fffb406f8e0) at /opt/rmf/src/rmf/rmf_task/rmf_task_sequence/src/rmf_task_sequence/events/Sequence.cpp:316
#8  0x00007ffff299d902 in rmf_task_sequence::phases::SimplePhase::Active::cancel (this=0x7fffb417f620) at /opt/rmf/src/rmf/rmf_task/rmf_task_sequence/src/rmf_task_sequence/phases/SimplePhase.cpp:86
#9  0x00007ffff2929dd2 in rmf_task_sequence::Task::Active::cancel (this=0x7fffb447c240) at /opt/rmf/src/rmf/rmf_task/rmf_task_sequence/src/rmf_task_sequence/Task.cpp:552
#10 0x00007ffff508954a in rmf_fleet_adapter::TaskManager::ActiveTask::cancel (this=0x7fffb400a3a8, labels=std::vector of length 0, capacity 0, time=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp:711




#11 0x00007ffff50939fa in rmf_fleet_adapter::TaskManager::cancel_task (this=0x7fffb400a350, Python Exception <class 'gdb.error'>: There is no member named _M_p.
task_id=, labels=std::vector of length 0, capacity 0)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp:1392



#12 0x00007ffff50997e8 in rmf_fleet_adapter::TaskManager::_handle_cancel_request (this=0x7fffb400a350, request_json=..., Python Exception <class 'gdb.error'>: There is no member named _M_p.
request_id=)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp:2446
#13 0x00007ffff5099078 in rmf_fleet_adapter::TaskManager::_handle_request (this=0x7fffb400a350, Python Exception <class 'gdb.error'>: There is no member named _M_p.
request_msg=, Python Exception <class 'gdb.error'>: There is no member named _M_p.
request_id=)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp:2347
#14 0x00007ffff50a778a in rmf_fleet_adapter::TaskManager::make(std::shared_ptr<rmf_fleet_adapter::agv::RobotContext>, std::optional<std::weak_ptr<rmf_websocket::BroadcastClient> >, std::weak_ptr<rmf_fleet_adapter::agv::FleetUpdateHandle>)::$_19::operator()(std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > > const&) const (this=0x7fffb400d6d8, request=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'

std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >> (use count 3, weak count 0) = {...}) at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp:217
#15 0x00007ffff50a77fd in rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::detail::stateless_observer_tag, rmf_fleet_adapter::TaskManager::make(std::shared_ptr<rmf_fleet_adapter::agv::RobotContext>, std::optional<std::weak_ptr<rmf_websocket::BroadcastClient> >, std::weak_ptr<rmf_fleet_adapter::agv::FleetUpdateHandle>)::$_19, void, void>::on_next(std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >&&) const (this=0x7fffb400d6d8, t=...)
--Type <RET> for more, q to quit, c to continue without paging--
   hpp:333
#16 0x00007ffff50a7651 in rxcpp::detail::specific_observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::detail::stateless_observer_tag, rmf_fleet_adapter::TaskManager::make(std::shared_ptr<rmf_fleet_adapter::agv::RobotContext>, std::optional<std::weak_ptr<rmf_websocket::BroadcastClient> >, std::weak_ptr<rmf_fleet_adapter::agv::FleetUpdateHandle>)::$_19, void, void> >::on_next(std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >&&) const (
    this=0x7fffb400d6c0, t=...) at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-observer.hpp:372
#17 0x00007ffff510125d in rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void>::on_next<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > > > (this=0x7fffb400d990, v=...) at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-observer.hpp:439
#18 0x00007ffff5101084 in rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> >::nextdetacher::operator()<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > > > (this=0x7fffce1fb7f0, u=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'

std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >> (use count 3, weak count 0) = {...})
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-subscriber.hpp:54
#19 0x00007ffff5100fc1 in rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> >::on_next<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > > const&> (this=0x7fffb400d970, v=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >, std::allocator<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>'

std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> >> (use count 3, weak count 0) = {...})
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-subscriber.hpp:181
#20 0x00007ffff50ffa31 in rxcpp::notifications::notification<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > > >::on_next_notification::accept (this=0x7fffb40e3b90, o=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-notification.hpp:143
#21 0x00007ffff50fc29a in rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}::operator()(rxcpp::schedulers::schedulable const&) const (this=0x7fffb424cbf0, 
    self=...) at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/operators/rx-observe_on.hpp:149
#22 0x00007ffff50fc082 in std::__invoke_impl<void, rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}&, rxcpp::schedulers::schedulable const&>(std::__invoke_other, rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}&, rxcpp::schedulers::schedulable const&) (__f=..., __args=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:61
#23 0x00007ffff50fc022 in std::__invoke_r<void, rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}&, rxcpp::schedulers::schedulable const&>(rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}&, rxcpp::schedulers::schedulable const&) (__fn=..., __args=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:111
--Type <RET> for more, q to quit, c to continue without paging--
#24 0x00007ffff50fbee2 in std::_Function_handler<void (rxcpp::schedulers::schedulable const&), rxcpp::operators::detail::observe_on<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::identity_one_worker>::observe_on_observer<rxcpp::subscriber<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, rxcpp::observer<std::shared_ptr<rmf_task_msgs::msg::ApiRequest_<std::allocator<void> > >, void, void, void, void> > >::observe_on_state::ensure_processing(std::unique_lock<std::mutex>&) const::{lambda(rxcpp::schedulers::schedulable const&)#1}>::_M_invoke(std::_Any_data const&, rxcpp::schedulers::schedulable const&) (__functor=..., __args=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:290
#25 0x00007ffff4fddd85 in std::function<void (rxcpp::schedulers::schedulable const&)>::operator()(rxcpp::schedulers::schedulable const&) const (this=0x7fffb4310650, __args=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:590
#26 0x00007ffff4fddbd9 in rxcpp::schedulers::detail::action_tailrecurser::operator() (this=0x7fffb4310640, s=..., r=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-scheduler.hpp:712
#27 0x00007ffff4fddb37 in std::__invoke_impl<void, rxcpp::schedulers::detail::action_tailrecurser&, rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&> (__f=..., __args=..., 
    __args=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:61
#28 0x00007ffff4fddac7 in std::__invoke_r<void, rxcpp::schedulers::detail::action_tailrecurser&, rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&> (__fn=..., __args=..., 
    __args=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:111
#29 0x00007ffff4fdd7f7 in std::_Function_handler<void (rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&), rxcpp::schedulers::detail::action_tailrecurser>::_M_invoke(std::_Any_data const&, rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&) (__functor=..., __args=..., __args=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:290
#30 0x00007ffff4fdb4aa in std::function<void (rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&)>::operator()(rxcpp::schedulers::schedulable const&, rxcpp::schedulers::recurse const&) const (this=0x7fff880dce80, __args=..., __args=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:590
#31 0x00007ffff4fdb3b7 in rxcpp::schedulers::detail::action_type::operator() (this=0x7fff880dce70, s=..., r=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-scheduler.hpp:679
#32 0x00007ffff4fdb2dd in rxcpp::schedulers::action::operator() (this=0x7fffce1fbc50, s=..., r=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-scheduler.hpp:727
#33 0x00007ffff4fd7ecb in rxcpp::schedulers::schedulable::operator() (this=0x7fffce1fbc00, r=...)
    at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-scheduler.hpp:645
#34 0x00007ffff5007401 in rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}::operator()() const (
    this=0x55555668c570) at /opt/rmf/src/rosi-rmf/rmf_ros2/rmf_fleet_adapter/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/schedulers/rx-newthread.hpp:121
#35 0x00007ffff500705d in std::__invoke_impl<void, rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}&>(std::__invoke_other, rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}&) (__f=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:61
#36 0x00007ffff500700d in std::__invoke_r<void, rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}&>(rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}&) (__fn=...)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:111
#37 0x00007ffff5006ead in std::_Function_handler<void (), rxcpp::schedulers::new_thread::new_worker::new_worker(rxcpp::composite_subscription, std::function<std::thread (std::function<void ()>)>&)::{lambda()#2}>::_M_invoke(std::_Any_data const&) (__functor=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:290
#38 0x00007ffff5c29cc5 in std::function<void ()>::operator()() const (this=0x555556784828) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:590
#39 0x00007ffff5001ccd in std::__invoke_impl<void, std::function<void ()>>(std::__invoke_other, std::function<void ()>&&) (__f=...)
--Type <RET> for more, q to quit, c to continue without paging--
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:61
#40 0x00007ffff5001c5d in std::__invoke<std::function<void ()>>(std::function<void ()>&&) (__fn=...) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/invoke.h:96
#41 0x00007ffff5001c35 in std::thread::_Invoker<std::tuple<std::function<void ()> > >::_M_invoke<0ul>(std::_Index_tuple<0ul>) (this=0x555556784828)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_thread.h:259
#42 0x00007ffff5001c05 in std::thread::_Invoker<std::tuple<std::function<void ()> > >::operator()() (this=0x555556784828)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_thread.h:266
#43 0x00007ffff5001aa9 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<std::function<void ()> > > >::_M_run() (this=0x555556784820)
    at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_thread.h:211
#44 0x00007ffff6ace253 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#45 0x00007ffff7cdeac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#46 0x00007ffff7d70a40 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:81