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Hi @fujitatomoya
I just use Nav2 with the tutorial here , and this issue only happened one or two times and can not be reproduced stably.
Maybe it's a data race related issue in librcl according to the asan trace?
Bug report
Required Info:
Steps to reproduce issue
Use Nav2 to navigate turtlebot3 in gazebo.
We see crashes when we test Nav2, and it seems some errors are caused by the middleware.
Related to ros-navigation/navigation2#2499 ros-navigation/navigation2#2505
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