Gazebo Sim crashes when using gz_ros2_control-system after terminating simulation process

[AJedancov]

Describe the bug
Hello! In my project I use diff_drive_controller to control a mobile robot in Gazebo Sim. In accordance with the documentation, I connect the gz_ros2_control-system via URDF. The simulation and plugin run without any problems. But when I terminate simulation (Ctrl+C in terminal) I get an error from Gazebo that the process was died with a following stack trace:

[gazebo-2] [INFO] [1744890780.773079465] [controller_manager.pal_statistics]: Async messages lost 0
[gazebo-2] [INFO] [1744890780.773219714] [controller_manager.pal_statistics]: publish_async_failures_ 0
[gazebo-2] Stack trace (most recent call last):
[gazebo-2] #31   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e8657b49, in rb_vm_exec
[gazebo-2] #30   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e865462b, in 
[gazebo-2] #29   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e865013e, in 
[gazebo-2] #28   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e864d92f, in 
[gazebo-2] #27   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e858e049, in 
[gazebo-2] #26   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e84b71d6, in rb_protect
[gazebo-2] #25   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e865c2d9, in rb_yield
[gazebo-2] #24   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e8657b49, in rb_vm_exec
[gazebo-2] #23   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e865462b, in 
[gazebo-2] #22   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e865013e, in 
[gazebo-2] #21   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e864d92f, in 
[gazebo-2] #20   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x7470e68f7b13, in 
[gazebo-2] #19   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x7470e861637b, in rb_nogvl
[gazebo-2] #18   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x7470e68f743b, in 
[gazebo-2] #17   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7470e682b0bd, in ffi_call
[gazebo-2] #16   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7470e68283ee, in 
[gazebo-2] #15   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7470e682bb15, in 
[gazebo-2] #14   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-gz.so.8.9.0", at 0x7470e47456d4, in runServer
[gazebo-2] #13   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7470e1d3993c, in gz::sim::v8::Server::~Server()
[gazebo-2] #12   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7470e1d492e4, in 
[gazebo-2] #11   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7470e1d48e17, in gz::sim::v8::SimulationRunner::~SimulationRunner()
[gazebo-2] #10   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7470e1d5a83c, in 
[gazebo-2] #9    Object "/opt/ros/jazzy/opt/gz_plugin_vendor/lib/libgz-plugin2.so.2", at 0x7470e47d7644, in gz::plugin::Plugin::~Plugin()
[gazebo-2] #8    Object "/opt/ros/jazzy/opt/gz_plugin_vendor/lib/libgz-plugin2.so.2", at 0x7470e47d6b35, in 
[gazebo-2] #7    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7470d16446af, in std::_Function_handler<void (void*), gz::plugin::detail::MakeInfo<gz_ros2_control::GazeboSimROS2ControlPlugin, gz::sim::v8::System, gz::sim::v8::ISystemConfigure, gz::sim::v8::ISystemPreUpdate, gz::sim::v8::ISystemPostUpdate>()::{lambda(void*)#1}>::_M_invoke(std::_Any_data const&, void*&&)
[gazebo-2] #6    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7470d1632a6f, in gz_ros2_control::GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()
[gazebo-2] #5    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7470d1638165, in 
[gazebo-2] #4    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7470d0cb42d4, in controller_manager::ControllerManager::~ControllerManager()
[gazebo-2] #3    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7470d0cb40ea, in controller_manager::ControllerManager::~ControllerManager()
[gazebo-2] #2    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7470d163cbdb, in 
[gazebo-2] #1    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x7470d039fe9e, in hardware_interface::ResourceManager::~ResourceManager()
[gazebo-2] #0    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x7470d03c295d, in 
[gazebo-2] Segmentation fault (Address not mapped to object [0x7470c3f582a0])
[ERROR] [gazebo-2]: process has died

If I remove the gz_ros2_control plugin (system), Gazebo terminates its work without any errors.

To Reproduce
Steps to reproduce the behavior:

1. Run Gazebo Sim with gz_ros2_control-system
2. Terminate the simulation process via terminal (Ctrl+C)
3. See error

Expected behavior
Completing the simulation process without any errors

Screenshots

Code from URDF:

<gazebo>
      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
            <parameters> $(find twr_control)/config/twr_diff_drive_controller.yaml </parameters>
      </plugin>
</gazebo>

YAML Configuration file:

controller_manager:
  ros__parameters:
    update_rate: 1000 #Hz
    use_sim_time: true

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

diff_drive_controller:
  ros__parameters:
    type: diff_drive_controller/DiffDriveController

    odom_frame_id: odom
    base_frame_id: base_link

    left_wheel_names: ["left_wheel_joint"]
    right_wheel_names: ["right_wheel_joint"]
    wheel_separation: 0.222
    wheel_radius: 0.05

    enable_odom_tf: false

Environment:

• OS: Kubuntu 24.04
• Version: ROS Jazzy, Gazebo Sim 8.9.0

Additional context

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[XHao1997]

Anyone solve this problem?