2026-08-12T02:37:12.2568075Z [ros2_control_node-2] [INFO] [1786502221.880914453] [controller_manager]: Deactivating controller 'joint_trajectory_controller'
2026-08-12T02:37:12.2569345Z [ros2_control_node-2] [INFO] [1786502221.881252662] [controller_manager]: Shutting down controller 'joint_trajectory_controller'
2026-08-12T02:37:12.2570415Z [ros2_control_node-2] [INFO] [1786502221.881341295] [controller_manager]: Deactivating controller 'joint_state_broadcaster'
2026-08-12T02:37:12.2571321Z [ros2_control_node-2] Stack trace (most recent call last) in thread 20603:
2026-08-12T02:37:12.2572337Z [ros2_control_node-2] [INFO] [1786502221.881457700] [controller_manager]: Shutting down controller 'joint_state_broadcaster'
2026-08-12T02:37:12.2573627Z [ros2_control_node-2] [INFO] [1786502221.881538682] [resource_manager]: 'deactivate' hardware 'rrr_joint_state_system'
2026-08-12T02:37:12.2574601Z [ros2_control_node-2] [INFO] [1786502221.881561706] [resource_manager]: Successful 'deactivate' of hardware 'rrr_joint_state_system'
2026-08-12T02:37:12.2575611Z [ros2_control_node-2] [INFO] [1786502221.881568547] [resource_manager]: 'shutdown' hardware 'rrr_joint_state_system'
2026-08-12T02:37:12.2576763Z [ros2_control_node-2] [INFO] [1786502221.881573624] [resource_manager]: Successful 'shutdown' of hardware 'rrr_joint_state_system'
2026-08-12T02:37:12.2578104Z [ros2_control_node-2] [INFO] [1786502221.881690360] [controller_manager]: Shutting down the controller manager.
2026-08-12T02:37:12.2578910Z [INFO] [python3-6]: process has finished cleanly [pid 20566]
2026-08-12T02:37:12.2579624Z [robot_state_publisher-1] [INFO] [1786502221.883585005] [rclcpp]: signal_handler(signum=2)
2026-08-12T02:37:12.2580572Z [ros2_control_node-2] #14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
2026-08-12T02:37:12.2581560Z [ros2_control_node-2] #13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ccce6533, in __clone
2026-08-12T02:37:12.2582454Z [ros2_control_node-2] #12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ccc53079, in
2026-08-12T02:37:12.2583590Z [ros2_control_node-2] #11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.35", at 0x7f45ccfebef8, in
2026-08-12T02:37:12.2585904Z [ros2_control_node-2] #10 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a5819b1, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<main::{lambda()#1}> > >::_M_run()
2026-08-12T02:37:12.2588981Z [ros2_control_node-2] #9 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a5819cd, in std::thread::_Invoker<std::tuple<main::{lambda()#1}> >::operator()()
2026-08-12T02:37:12.2592024Z [ros2_control_node-2] #8 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a5819f9, in void std::thread::_Invoker<std::tuple<main::{lambda()#1}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
2026-08-12T02:37:12.2595367Z [ros2_control_node-2] #7 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a581a3e, in std::__invoke_result<main::{lambda()#1}>::type std::__invoke<main::{lambda()#1}>(main::{lambda()#1}&&)
2026-08-12T02:37:12.2598570Z [ros2_control_node-2] #6 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a581a7b, in void std::__invoke_impl<void, main::{lambda()#1}>(std::__invoke_other, main::{lambda()#1}&&)
2026-08-12T02:37:12.2601634Z [ros2_control_node-2] #5 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x55dd1a57f8cd, in main::{lambda()#1}::operator()() const
2026-08-12T02:37:12.2604808Z [ros2_control_node-2] #4 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7f45cdab78b1, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
2026-08-12T02:37:12.2608099Z [ros2_control_node-2] #3 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_interface/lib/libcontroller_interface.so", at 0x7f45cca8dde6, in controller_interface::ControllerInterfaceBase::trigger_update(rclcpp::Time const&, rclcpp::Duration const&)
2026-08-12T02:37:13.3911982Z [ros2_control_node-2] #2 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/joint_trajectory_controller/lib/libjoint_trajectory_controller.so", at 0x7f45c08c6af2, in joint_trajectory_controller::JointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&)
2026-08-12T02:37:13.3915378Z [ros2_control_node-2] #1 Object "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/joint_trajectory_controller/lib/libjoint_trajectory_controller.so", at 0x7f45c0a13190, in joint_trajectory_controller::Trajectory::time_from_start() const
2026-08-12T02:37:13.3916781Z [ros2_control_node-2] #0 Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f45cd368b6b, in rclcpp::Time::Time(rclcpp::Time const&)
2026-08-12T02:37:13.3917474Z [ros2_control_node-2] Segmentation fault (Address not mapped to object [0x18])
2026-08-12T02:37:13.3919807Z [ERROR] [ros2_control_node-2]: process has died [pid 20562, exit code -11, cmd '/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/upstream_ws/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_0e4f7d89 --params-file /home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/target_ws/src/topic_based_hardware_interfaces/joint_state_topic_hardware_interface/test/rrr/ros2_controllers.yaml'].
2026-08-12T02:37:13.3922917Z [INFO] [relay-5]: process has finished cleanly [pid 20565]
2026-08-12T02:37:13.3923652Z [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 20561]
2026-08-12T02:37:13.3924202Z test_pass (joint_state_topic_hardware_interface.TestProcessPostShutdown.test_pass) ... FAIL
2026-08-12T02:37:13.3924631Z
2026-08-12T02:37:13.3924855Z ======================================================================
2026-08-12T02:37:13.3925402Z FAIL: test_pass (joint_state_topic_hardware_interface.TestProcessPostShutdown.test_pass)
2026-08-12T02:37:13.3926242Z ----------------------------------------------------------------------
2026-08-12T02:37:13.3926751Z Traceback (most recent call last):
2026-08-12T02:37:13.3928099Z File "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/target_ws/src/topic_based_hardware_interfaces/joint_state_topic_hardware_interface/test/rrr/position.test.py", line 174, in test_pass
2026-08-12T02:37:13.3929071Z launch_testing.asserts.assertExitCodes(proc_info)
2026-08-12T02:37:13.3929404Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^
2026-08-12T02:37:13.3929968Z File "/opt/ros/rolling/lib/python3.14/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
2026-08-12T02:37:13.3930684Z assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
2026-08-12T02:37:13.3931106Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-12T02:37:13.3931458Z AssertionError: Proc ros2_control_node-2 exited with code -11
2026-08-12T02:37:13.3931780Z
2026-08-12T02:37:13.3932026Z ----------------------------------------------------------------------
2026-08-12T02:37:13.3932358Z Ran 1 test in 0.001s
2026-08-12T02:37:13.3932584Z
2026-08-12T02:37:13.3932763Z FAILED (failures=1)
2026-08-12T02:37:13.3933209Z -- run_test.py: return code 1
2026-08-12T02:37:13.3934237Z -- run_test.py: verify result file '/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/target_ws/build/joint_state_topic_hardware_interface/test_results/joint_state_topic_hardware_interface/test_rrr_position.test.py.xunit.xml'
2026-08-12T02:37:13.3935195Z >>>
2026-08-12T02:37:13.3935796Z build/joint_state_topic_hardware_interface/test_results/joint_state_topic_hardware_interface/test_rrr_position.test.py.xunit.xml: 4 tests, 0 errors, 1 failure, 0 skipped
2026-08-12T02:37:13.3936582Z - joint_state_topic_hardware_interface.TestProcessPostShutdown test_pass
2026-08-12T02:37:13.3936987Z <<< failure message
2026-08-12T02:37:13.3937311Z Traceback (most recent call last):
2026-08-12T02:37:13.3938778Z File "/home/runner/work/topic_based_hardware_interfaces/topic_based_hardware_interfaces/.work/target_ws/src/topic_based_hardware_interfaces/joint_state_topic_hardware_interface/test/rrr/position.test.py", line 174, in test_pass
2026-08-12T02:37:13.3940589Z launch_testing.asserts.assertExitCodes(proc_info)
2026-08-12T02:37:13.3941128Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^
2026-08-12T02:37:13.3942045Z File "/opt/ros/rolling/lib/python3.14/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
2026-08-12T02:37:13.3943655Z assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
2026-08-12T02:37:13.3944407Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-12T02:37:13.3944963Z AssertionError: Proc ros2_control_node-2 exited with code -11
2026-08-12T02:37:13.3945470Z >>>
Describe the bug
To Reproduce
ros-controls/topic_based_hardware_interfaces#135