crash in foxglove ros1 due to pointer

[weidezhang]

Description
By restarting some of our ros nodes , we found foxglove_bridge_ros1 crash randomly.

• Version: foxglove_bridge_ros1 built from source from master branch (after 0.7.2) ros-noetic
• Platform: Ubuntu 22.04

Steps To Reproduce
By bringing up and bringing down our ros nodes (with / without rviz), we found the following core dump :

[New Thread 0x7ffff4202700 (LWP 4355)]
[New Thread 0x7ffff3a01700 (LWP 4356)]
[New Thread 0x7ffff3200700 (LWP 4357)]
[New Thread 0x7ffff29ff700 (LWP 4358)]
[New Thread 0x7ffff21fe700 (LWP 4359)]
[New Thread 0x7ffff19fd700 (LWP 4360)]
[New Thread 0x7ffff11fc700 (LWP 4361)]
[New Thread 0x7ffff09fb700 (LWP 4362)]
[New Thread 0x7fffe3fff700 (LWP 4363)]
[ INFO] [1697840735.025183026]: Initializing nodelet with 4 worker threads.
[New Thread 0x7fffe37fe700 (LWP 4364)]
[ INFO] [1697840735.344176016]: Starting foxglove_bridge (noetic, @) with WebSocket++/0.8.1
[New Thread 0x7fffe1606700 (LWP 4365)]
[ INFO] [1697840735.344597853]: [WS] Server running without TLS
[New Thread 0x7fffe0e05700 (LWP 4366)]
[New Thread 0x7fffdbfff700 (LWP 4367)]
[ INFO] [1697840735.344809370]: [WS] WebSocket server run loop started
[ INFO] [1697840735.344926661]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[New Thread 0x7fffdb7fe700 (LWP 4368)]
[New Thread 0x7fffdaffd700 (LWP 4369)]
^B2[ INFO] [1697840740.832140313]: [WS] Client 127.0.0.1:35626 connected via /
[ INFO] [1697840740.834324626]: [WS] Subscribing to connection graph updates.
[ INFO] [1697840754.072684455]: Subscribed to topic "/image/color" (sensor_msgs/Image) on channel 20
[ INFO] [1697840754.073895438]: Subscribed to topic "/wcs_task_results" (chimp_communication_api/TaskResult) on channel 49
[ INFO] [1697840759.209122885]: Subscribed to topic "/cycle_status" (chimp_communication_api/CycleResult) on channel 62
[ INFO] [1697840759.210227291]: Subscribed to topic "/scanner_matched/color" (sensor_msgs/Image) on channel 61
[ INFO] [1697840769.277877571]: Subscribed to topic "/image/grasp_point_detection" (sensor_msgs/Image) on channel 67
[ INFO] [1697840769.278942044]: Subscribed to topic "/image/bin_localization" (sensor_msgs/Image) on channel 68
[New Thread 0x7fffda7fc700 (LWP 5085)]
[ WARN] [1697840784.279217726]: [WS] 127.0.0.1:35626: Client subscription id 5 did not exist; ignoring unsubscription
[ WARN] [1697840784.279259584]: [WS] 127.0.0.1:35626: Client subscription id 4 did not exist; ignoring unsubscription
[ERROR] [1697840789.660997503]: Failed to retrieve service type or service description of service /chimp_perception_node/set_logger_level: Timed out when retrieving service type

Thread 2 "foxglove_bridge" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7ffff4202700 (LWP 4355)]
0x00007ffff01dd959 in std::__future_base::_Result_base::_Deleter::operator() (
    this=0x7ffff4201770, __fr=
    0x7fffe2f3b26b <foxglove::Server<foxglove::WebSocketNoTls>::updateConnectionGraph(std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocat--Type <RET> for more, q to quit, c to continue without paging--2
or<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&)+6107>) at /usr/include/c++/9/future:213
213             void operator()(_Result_base* __fr) const { __fr->_M_destroy(); }
(gdb) bt
#0  0x00007ffff01dd959 in std::__future_base::_Result_base::_Deleter::operator() (
    this=0x7ffff4201770,
    __fr=0x7fffe2f3b26b <foxglove::Server<foxglove::WebSocketNoTls>::updateConnectionGraph(std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::unordered_set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&)+6107>) at /usr/include/c++/9/future:213
#1  std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>::~unique_ptr (this=0x7ffff4201770, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/unique_ptr.h:292
#2  std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*) (
    this=0x7ffff19fc350, __f=<optimized out>, __did_set=0x7ffff4201800)
    at /usr/include/c++/9/future:561
--Type <RET> for more, q to quit, c to continue without paging--
#3  0x00007ffff78e94df in __pthread_once_slow (once_control=0x7ffff19fc368,
    init_routine=0x7ffff7c73c30 <__once_proxy>) at pthread_once.c:116
#4  0x00007ffff01dca64 in __gthread_once (__func=<optimized out>, __once=0x7ffff19fc368)
    at /usr/include/x86_64-linux-gnu/c++/9/bits/gthr-default.h:700
#5  std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&) (__f=
    @0x7ffff4201820: (void (std::__future_base::_State_baseV2::*)(std::__future_base::_State_baseV2 * const, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>()> *, bool *)) 0x7ffff01dd910 <std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*)>, __once=...) at /usr/include/c++/9/mutex:683
#6  std::__future_base::_State_baseV2::_M_set_result(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>, bool) (
    __ignore_failure=false, __res=..., this=0x7ffff19fc350) at /usr/include/c++/9/future:401
#7  std::promise<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::set_value (__r="roscpp/SetLoggerLevel", this=<optimized out>)
    at /usr/include/c++/9/future:1110
#8  foxglove_bridge::<lambda(const ConnectionPtr&, const ros::Header&)>::operator() (
    __closure=0x7fffc403b040, header=...)
    at /home/chimp/catkin_ws/src/ros-foxglove-bridge/ros1_foxglove_bridge/src/service_utils.cpp:28
#9  boost::detail::function::function_obj_invoker2<foxglove_bridge::retrieveServiceType(const string&, std::chrono::milliseconds)::<lambda(const ConnectionPtr&, const ros::Header&)>, bool, const boost::shared_ptr<ros::Connection>&, const ros::Header&>::invoke(boost::detail::function::function_buffer &, const boost::shared_ptr<ros::Connection> &, const ros::Header &) (
    function_obj_ptr=..., a0=..., a1=...)
    at /usr/include/boost/function/function_template.hpp:137
#10 0x00007ffff7e5c647 in ros::Connection::onHeaderRead(boost::shared_ptr<ros::Connection> const&, boost::shared_array<unsigned char> const&, unsigned int, bool) ()
   from /opt/ros/noetic/lib/libroscpp.so
#11 0x00007ffff7e59bbf in ros::Connection::readTransport() ()
   from /opt/ros/noetic/lib/libroscpp.so
#12 0x00007ffff7ecbc65 in ros::TransportTCP::socketUpdate(int) ()
   from /opt/ros/noetic/lib/libroscpp.so
#13 0x00007ffff7efff67 in ros::PollSet::update(int) () from /opt/ros/noetic/lib/libroscpp.so
#14 0x00007ffff7e91dbd in ros::PollManager::threadFunc() ()
   from /opt/ros/noetic/lib/libroscpp.so
#15 0x00007ffff783543b in ?? () from /lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
#16 0x00007ffff78e0609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#17 0x00007ffff7ab0133 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95`

Expected Behavior
should not crash

[foxhubber]

Internal tracking ticket: FG-5366

[achim-k]

@weidezhang I have submitted a potential fix in #268. Could you confirm if that fixes the crash?

[weidezhang]

@achim-k cool. seems the issue is fixed. i have verified locally. thx for the quick response.