Segfault in `gz_ros2_control::GazeboSimROS2ControlPlugin::Configure()`

[christophfroehlich]

Describe the bug

    [gazebo-1] [NON-XML-CHAR-0x1B][1;33mWarning [parser_urdf.cc:1220][NON-XML-CHAR-0x1B][0m Attribute value string not set
    [gazebo-1] [NON-XML-CHAR-0x1B][1;33mWarning [parser_urdf.cc:1220][NON-XML-CHAR-0x1B][0m Attribute value string not set
    [gazebo-1] [NON-XML-CHAR-0x1B][1;33mWarning [parser_urdf.cc:1220][NON-XML-CHAR-0x1B][0m Attribute value string not set
    [INFO] [create-4]: process has finished cleanly [pid 11951]
    [gazebo-1] [INFO] [1778477247.579695145] [gz_ros_control]: [gz_ros2_control] Fixed joint ['base_joint'] (Entity='20') is skipped.
    [gazebo-1] [INFO] [1778477247.581399237] [gz_ros_control]: Loading controller_manager
    [gazebo-1] Stack trace (most recent call last):
    [gazebo-1] #18   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
    [gazebo-1] #17   Object "/opt/ros/rolling/opt/gz_sim_vendor/libexec/gz/sim10/gz-sim-main", at 0x560732a62984, in 
    [gazebo-1] #16   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fede4a3b717, in __libc_start_main
    [gazebo-1] #15   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fede4a3b600, in 
    [gazebo-1] #14   Object "/opt/ros/rolling/opt/gz_sim_vendor/libexec/gz/sim10/gz-sim-main", at 0x560732a601b9, in 
    [gazebo-1] #13   Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede601b718, in 
    [gazebo-1] #12   Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede6029ee6, in gz::sim::v10::SimulationRunner::Run(unsigned long)
    [gazebo-1] #11   Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede60292ce, in gz::sim::v10::SimulationRunner::Step(gz::sim::v10::UpdateInfo const&)
    [gazebo-1] #10   Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede6024e22, in gz::sim::v10::SimulationRunner::UpdateSystems()
    [gazebo-1] #9    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/gz-sim-10/plugins/libgz-sim-user-commands-system.so.10.1.1", at 0x7fedb03ee833, in 
    [gazebo-1] #8    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/gz-sim-10/plugins/libgz-sim-user-commands-system.so.10.1.1", at 0x7fedb03e9a22, in 
    [gazebo-1] #7    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede5fde753, in gz::sim::v10::SdfEntityCreator::CreateEntities(sdf::v16::Model const*)
    [gazebo-1] #6    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede5fd9820, in gz::sim::v10::SdfEntityCreator::LoadModelPlugins()
    [gazebo-1] #5    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede5fe296b, in 
    [gazebo-1] #4    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede6025167, in gz::sim::v10::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v16::Plugin, std::allocator<sdf::v16::Plugin> > const&)
    [gazebo-1] #3    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede603eacb, in gz::sim::v10::SystemManager::LoadPlugin(unsigned long, sdf::v16::Plugin const&)
    [gazebo-1] #2    Object "/opt/ros/rolling/opt/gz_sim_vendor/lib/libgz-sim.so.10.1.1", at 0x7fede6047221, in gz::sim::v10::SystemManager::AddSystemImpl(gz::sim::v10::SystemInternal, std::shared_ptr<sdf::v16::Element const>)
    [gazebo-1] #1    Object "/opt/ros/rolling/lib/libgz_ros2_control-system.so", at 0x7fedb030fec9, in gz_ros2_control::GazeboSimROS2ControlPlugin::Configure(unsigned long const&, std::shared_ptr<sdf::v16::Element const> const&, gz::sim::v10::EntityComponentManager&, gz::sim::v10::EventManager&)
    [gazebo-1] #0    Object "/opt/ros/rolling/lib/libgz_ros2_control-system.so", at 0x7fedb0308644, in 
    [gazebo-1] Segmentation fault (Address not mapped to object [(nil)])
    [gazebo-1] Segmentation fault (core dumped)

To Reproduce
https://github.com/ros-controls/ros2_control_demos/actions/runs/25651354196/job/75290110655
rolling/testing

[christophfroehlich]

ros-controls/ros2_control_demos#1111