Memory access violation crash

[Scotty1701]

System Info

Operating System:
Windows 10

ROS Version:
Humble Hawksbill

cartographer commit hash:
2ce33a65bd4e41e3bf5af92c9275354ce7921c70

cartographer_ros commit hash:
098e6bf

Issue

cartographer_node crashes while attempting to publish the submap list. Following the error, it appears to originate at line 229 of map_builder_bridge.cpp when the map_builder_->pose_graph()->GetAllSubmapPoses() object goes out of scope and is deleted. The node runs fine until LiDAR data is received and the submap list is no longer empty.

Console output:

[ERROR] [cartographer_node.EXE-2]: process has died [pid 39184, exit code 3221226356, cmd 'D:\ros2_humble\dev\cartographer_ros\install\lib\cartographer_ros\cartographer_node.EXE -configuration_directory D:\ros2_humble\dev\cartographer_ros\install\share\cartographer_ros/configuration_files -configuration_basename backpack_2d.lua --ros-args --params-file C:\Users\ISAACP~1.ADM\AppData\Local\Temp\launch_params_aqfmr0g4 -r echoes:=horizontal_laser_2d'].

The crash first happened in a release build using a custom lua configuration, however I am able to reproduce on builds with debug symbols included using a ros2-converted bag of the museum data and the demo_backpack_2d.launch.py launch file.

Full crash dump with debug symbols is too large to attach but I have it available.

[Scotty1701]

Managed to build cartographer and cartographer_ros using clang instead of MSVC. I still get a crash when cartographer begins receiving data, however it is in a different location (happens at trajectory_builder_->AddSensorData after the first submap (0, 0) has been inserted).