AddressSanitizer: new-delete-type-mismatch

[fujitatomoya]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • source build rolling
• Version or commit hash:
  • ros2/ros2@fea3f22
• DDS implementation:
  • Any
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

colcon build --symlink-install --cmake-args -DCMAKE_CXX_FLAGS="-g  -fsanitize=address" -DCMAKE_C_FLAGS="-g -fsanitize=address"
source install/local_setup.bash
ros2 run demo_nodes_cpp talker
...

Expected behavior

No ASAN report generated.

Actual behavior

The following ASAN report generated.

AddressSanitizer: new-delete-type-mismatch

root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run demo_nodes_cpp talker
=================================================================
==726931==ERROR: AddressSanitizer: new-delete-type-mismatch on 0x60600006c0e0 in thread T0:
  object passed to delete has wrong type:
  size of the allocated type:   64 bytes;
  size of the deallocated type: 1 bytes.
    #0 0x7f7b840bd22f in operator delete(void*, unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:172
    #1 0x7f7b82772587 in rcutils_string_map_fini /root/ros2_ws/colcon_ws/src/ros2/rcutils/src/string_map.c:105
    #2 0x7f7b8354dfb0 in rcl_resolve_name /root/ros2_ws/colcon_ws/src/ros2/rcl/rcl/src/rcl/node_resolve_name.c:110
    #3 0x7f7b8354e751 in rcl_node_resolve_name /root/ros2_ws/colcon_ws/src/ros2/rcl/rcl/src/rcl/node_resolve_name.c:152
    #4 0x7f7b835483e5 in rcl_publisher_init /root/ros2_ws/colcon_ws/src/ros2/rcl/rcl/src/rcl/publisher.c:83
    #5 0x7f7b83c0bc16 in rclcpp::PublisherBase::PublisherBase(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_message_type_support_t const&, rcl_publisher_options_s const&, rclcpp::PublisherEventCallbacks const&, bool) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/publisher_base.cpp:73
    #6 0x7f7b83a55937 in rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >::Publisher(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/publisher.hpp:140
    #7 0x7f7b83a56e01 in void __gnu_cxx::new_allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/ext/new_allocator.h:162
    #8 0x7f7b83a56e01 in void std::allocator_traits<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >::construct<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >&, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/alloc_traits.h:516
    #9 0x7f7b83a56e01 in std::_Sp_counted_ptr_inplace<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr_base.h:519
    #10 0x7f7b83a56e01 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr_base.h:650
    #11 0x7f7b83a56e01 in std::__shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr_base.h:1342
    #12 0x7f7b83a56e01 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::shared_ptr<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr.h:409
    #13 0x7f7b83a56e01 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::allocate_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(std::allocator<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > const&, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr.h:863
    #14 0x7f7b83a56e01 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::make_shared<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&>(rclcpp::node_interfaces::NodeBaseInterface*&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /usr/include/c++/11/bits/shared_ptr.h:879
    #15 0x7f7b83a56e01 in rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/publisher_factory.hpp:76
    #16 0x7f7b83a56e01 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > std::__invoke_impl<std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(std::__invoke_other, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) /usr/include/c++/11/bits/invoke.h:61
    #17 0x7f7b83a56e01 in std::enable_if<is_invocable_r_v<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>, std::shared_ptr<rclcpp::PublisherBase> >::type std::__invoke_r<std::shared_ptr<rclcpp::PublisherBase>, rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&>(rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) /usr/include/c++/11/bits/invoke.h:116
    #18 0x7f7b83a56e01 in std::_Function_handler<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_publisher_factory<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) /usr/include/c++/11/bits/std_function.h:291
    #19 0x7f7b83a5f128 in std::function<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)>::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const /usr/include/c++/11/bits/std_function.h:590
    #20 0x7f7b83a5f128 in rclcpp::node_interfaces::NodeTopics::create_publisher(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::PublisherFactory const&, rclcpp::QoS const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp:50
    #21 0x7f7b83a143a8 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::detail::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> >(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/create_publisher.hpp:65
    #22 0x7f7b83a143a8 in std::shared_ptr<rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > rclcpp::create_publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&>(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/create_publisher.hpp:104
    #23 0x7f7b83a143a8 in rclcpp::node_interfaces::NodeParameters::NodeParameters(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&, bool, bool, rclcpp::QoS const&, rclcpp::PublisherOptionsBase const&, bool, bool) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:99
    #24 0x7f7b83983162 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:197
    #25 0x7f7b83988223 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:115
    #26 0x7f7b7e576f64 in demo_nodes_cpp::Talker::Talker(rclcpp::NodeOptions const&) /root/ros2_ws/colcon_ws/src/ros2/demos/demo_nodes_cpp/src/topics/talker.cpp:38
    #27 0x7f7b7e5794d3 in void __gnu_cxx::new_allocator<demo_nodes_cpp::Talker>::construct<demo_nodes_cpp::Talker, rclcpp::NodeOptions const&>(demo_nodes_cpp::Talker*, rclcpp::NodeOptions const&) /usr/include/c++/11/ext/new_allocator.h:162
    #28 0x7f7b7e5794d3 in void std::allocator_traits<std::allocator<demo_nodes_cpp::Talker> >::construct<demo_nodes_cpp::Talker, rclcpp::NodeOptions const&>(std::allocator<demo_nodes_cpp::Talker>&, demo_nodes_cpp::Talker*, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/alloc_traits.h:516
    #29 0x7f7b7e5794d3 in std::_Sp_counted_ptr_inplace<demo_nodes_cpp::Talker, std::allocator<demo_nodes_cpp::Talker>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::NodeOptions const&>(std::allocator<demo_nodes_cpp::Talker>, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr_base.h:519
    #30 0x7f7b7e5794d3 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<demo_nodes_cpp::Talker, std::allocator<demo_nodes_cpp::Talker>, rclcpp::NodeOptions const&>(demo_nodes_cpp::Talker*&, std::_Sp_alloc_shared_tag<std::allocator<demo_nodes_cpp::Talker> >, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr_base.h:650
    #31 0x7f7b7e5794d3 in std::__shared_ptr<demo_nodes_cpp::Talker, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<demo_nodes_cpp::Talker>, rclcpp::NodeOptions const&>(std::_Sp_alloc_shared_tag<std::allocator<demo_nodes_cpp::Talker> >, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr_base.h:1342
    #32 0x7f7b7e5794d3 in std::shared_ptr<demo_nodes_cpp::Talker>::shared_ptr<std::allocator<demo_nodes_cpp::Talker>, rclcpp::NodeOptions const&>(std::_Sp_alloc_shared_tag<std::allocator<demo_nodes_cpp::Talker> >, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr.h:409
    #33 0x7f7b7e5794d3 in std::shared_ptr<demo_nodes_cpp::Talker> std::allocate_shared<demo_nodes_cpp::Talker, std::allocator<demo_nodes_cpp::Talker>, rclcpp::NodeOptions const&>(std::allocator<demo_nodes_cpp::Talker> const&, rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr.h:863
    #34 0x7f7b7e5794d3 in std::shared_ptr<demo_nodes_cpp::Talker> std::make_shared<demo_nodes_cpp::Talker, rclcpp::NodeOptions const&>(rclcpp::NodeOptions const&) /usr/include/c++/11/bits/shared_ptr.h:879
    #35 0x7f7b7e5794d3 in rclcpp_components::NodeFactoryTemplate<demo_nodes_cpp::Talker>::create_node_instance(rclcpp::NodeOptions const&) /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp_components/include/rclcpp_components/node_factory_template.hpp:45
    #36 0x55b82f7d87f7 in main /root/ros2_ws/colcon_ws/build/demo_nodes_cpp/rclcpp_components/node_main_talker.cpp:55
    #37 0x7f7b81c3dd8f in __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58
    #38 0x7f7b81c3de3f in __libc_start_main_impl ../csu/libc-start.c:392
    #39 0x55b82f7db5c4 in _start (/root/ros2_ws/colcon_ws/build/demo_nodes_cpp/talker+0xd5c4)

0x60600006c0e0 is located 0 bytes inside of 64-byte region [0x60600006c0e0,0x60600006c120)
allocated by thread T0 here:
    #0 0x7f7b840bc1c7 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:99
    #1 0x7f7b82772023 in rcutils_string_map_init /root/ros2_ws/colcon_ws/src/ros2/rcutils/src/string_map.c:67
    #2 0x7f7b8354dc37 in rcl_resolve_name /root/ros2_ws/colcon_ws/src/ros2/rcl/rcl/src/rcl/node_resolve_name.c:47
    #3 0x610000000a3f  (<unknown module>)

SUMMARY: AddressSanitizer: new-delete-type-mismatch ../../../../src/libsanitizer/asan/asan_new_delete.cpp:172 in operator delete(void*, unsigned long)
==726931==HINT: if you don't care about these errors you may set ASAN_OPTIONS=new_delete_type_mismatch=0
==726931==ABORTING
[ros2run]: Process exited with failure 1

[fujitatomoya]

this can also happen with humble branch as well.

[fujitatomoya]

CC: @iuhilnehc-ynos @Barry-Xu-2018

[iuhilnehc-ynos]

Actually, I noticed this issue a long time ago while adding the zero_allocate.

• allocate
  

  rclcpp/rclcpp/include/rclcpp/allocator/allocator_common.hpp

  Line 40 in 9784391

  return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);

• deallocate
  

  rclcpp/rclcpp/include/rclcpp/allocator/allocator_common.hpp

  Line 67 in 9784391

  std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);

The deallocate just deallocate buffer size with 1. I don't know how to fix this issue elegantly.
Any suggestion?

[iuhilnehc-ynos]

How about incorporating an additional size field at the beginning of the buffer to store the size value during buffer allocation?

(NOTE: It results in a significant waste of memory when there are numerous small buffer allocations.)

[CursedRock17]

According to cppreference the ending parameter of both allocate and deallocate is a size_type n where n is:

the number of objects to allocate storage for

So is there anyway to extract the size of the typename T given in retyped_deallocate like

std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, sizeof(T));

or a some way to find the type of the object that was allocated, or is that beyond the reach of the function.

[iuhilnehc-ynos]

What if the type is char and then rcl uses the allocator to allocate a buffer with count?
Even if we can add an explicit specialization template get_rcl_allocator for char to use rcl_get_default_allocator(), which seems like a workaround, what if using get_rcl_allocator<rcl_node_t> in the future, and then use the allocator to allocate a buffer with count(2)?

It seems that using sizeof(T) can't fix this issue.

[kfabian]

I stumbled on this issue, because I encountered problems when I wanted to use ROS2 >= humble with jemalloc. (Apparently I am not the first one: ROS 2 migration stories: The struggles of moving to Humble)

I think std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, sizeof(T)); won't work because n is the number of objects of type T to deallocate and not the number of bytes.

I also think that

rclcpp/rclcpp/include/rclcpp/allocator/allocator_common.hpp

Line 67 in 9784391

std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);

only works because the default implementation of operator delete(void* ptr, std::size_t size) just calls operator delete(void* ptr) and ignores the size argument. Jemalloc instead explicitly implements a sized delete, which leads to memory errors when used together with rclcpp, because the size argument does not match the previously allocated size. So I wonder if there is a safe way to create an rcl_allocator_t struct from an STL allocator, because the STL allocator requires a size argument for deallocate.

[iluetkeb]

I'm assuming that the C++ standard writers had a good reason to make the number of elements a parameter. Therefore, I would suggest to address this by adding a corresponding method which takes this as an argument. Further, we may want to consider deprecating the existing version of the function that does not have this argument.

[ralwing]

There are many errors related to this issue:

• Creating a Node in Galactic/Rolling results in ASAN errors #1948
• heap-use-after-free on time_source.cpp #2217
• address sanitizer complains new-delete-type-mismatch over allocator_common #2045
• Many nodes crash instantly when -fsanitize=address is used autowarefoundation/autoware.universe#3400