[BUG] runtime failure caused by RDK msg serialize

[stardust-anon]

Version info

• Flexiv ROS 2: v1.8
• ROS 2 distro: Jazzy
• Robot software: v3.10.3
• OS: Ubuntu 24.04, arm64

How urgent is this bug? Have you found any workarounds?

10

Describe the issue and expected behavior

The issue with the previous RDK version has been resolved, but when controlling the real robotic arm in ROS2 Jazzy, I’m still encountering problems. It appears to be another RDK runtime issue.
The log output is shown below:

ros2 launch flexiv_bringup rizon_moveit.launch.py robot_sn:=Rizon4-063482 load_gripper:=true
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2026-05-25-07-47-39-741589-ubuntu-6100
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [6104]
[INFO] [joint_state_publisher-2]: process started with pid [6105]
[INFO] [robot_state_publisher-3]: process started with pid [6106]
[INFO] [spawner-4]: process started with pid [6107]
[INFO] [spawner-5]: process started with pid [6108]
[INFO] [spawner-6]: process started with pid [6109]
[robot_state_publisher-3] [INFO] [1779695260.562200799] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1779695260.567668478] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1779695260.578656279] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1779695260.584829043] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [INFO] [1779695260.584893047] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-1] [INFO] [1779695260.584903931] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1779695260.585061728] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1779695260.608148467] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1779695260.608238249] [controller_manager]: Enforcing command limits is disabled. Command limits from URDF will be ignored.
[ros2_control_node-1] [INFO] [1779695260.613447673] [controller_manager]: Loading hardware 'FlexivHardwareInterface' 
[ros2_control_node-1] [INFO] [1779695260.619626999] [controller_manager]: Loaded hardware 'FlexivHardwareInterface' from plugin 'flexiv_hardware/FlexivHardwareInterface'
[ros2_control_node-1] [INFO] [1779695260.619816355] [controller_manager]: Initialize hardware 'FlexivHardwareInterface' 
[ros2_control_node-1] [WARN] [1779695260.621291936] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 1000 Hz. The loop took 2.971321 ms (missed cycles : 3).
[ros2_control_node-1] [INFO] [1779695260.632684227] [FlexivHardwareInterface]: Connecting to robot Rizon4-063482 ...
[ros2_control_node-1] [2026-05-25 07:47:40.632] [info] | | | | | | | | | |  Flexiv RDK v1.8  | | | | | | | | | |
[ros2_control_node-1] *** stack smashing detected ***: terminated
[ros2_control_node-1] Stack trace (most recent call last) in thread 6164:
[ros2_control_node-1] #7    Object "", at 0xffff683b294b, in 
[joint_state_publisher-2] [INFO] [1779695261.044355434] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher-2] [INFO] [1779695261.067614050] [joint_state_publisher]: Got description, configuring robot
[spawner-4] [INFO] [1779695261.071242281] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] #6    Object "/home/ubuntu/program/flexiv_ros2_ws/build/flexiv_hardware/libflexiv_hardware.so", at 0xffff784146b3, in rdk_msgs::msg::RealtimeStatesPubSubType::deserialize(eprosima::fastrtps::rtps::SerializedPayload_t*, void*)
[ros2_control_node-1] #5    Source "./debug/stack_chk_fail.c", line 24, in __stack_chk_fail [0xffff9eea9263]
[ros2_control_node-1] #4    Source "./debug/fortify_fail.c", line 24, in __fortify_fail [0xffff9eea82a7]
[ros2_control_node-1] #3    Source "../sysdeps/posix/libc_fatal.c", line 134, in __libc_message_impl [0xffff9ee2abf3]
[ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0xffff9edd7dff]
[ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0xffff9edecb3b]
[ros2_control_node-1] #0    Source "./nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0xffff9ee37608]
[ros2_control_node-1] Aborted (Signal sent by tkill() 6104 1000)
[ERROR] [ros2_control_node-1]: process has died [pid 6104, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_061sfasu --params-file /tmp/launch_params_aommjp24 --params-file /tmp/launch_params_qaj4kb2f --params-file /tmp/launch_params_jfn9wjhg -r joint_states:=flexiv_arm/joint_states'].
[spawner-4] [WARN] [1779695271.098154458] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1779695271.099036564] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1779695280.964827071] [ros2_control_controller_spawner_gpio_controller]: Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds...
[spawner-5] [WARN] [1779695280.972786070] [ros2_control_controller_spawner_flexiv_robot_states_broadcaster]: Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds...
[spawner-4] [WARN] [1779695281.122090249] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1779695281.122708112] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1779695291.132724537] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1779695291.133222518] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...

I pulled this commit from the Jazzy branch: 28b176e.
I also tried commit 02a9541, but still got serialize failure as below:

ros2 launch flexiv_bringup rizon_moveit.launch.py robot_sn:=Rizon4-063482 load_gripper:=true
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2026-05-26-06-35-24-869283-ubuntu-12215
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [12220]
[INFO] [joint_state_publisher-2]: process started with pid [12221]
[INFO] [robot_state_publisher-3]: process started with pid [12222]
[INFO] [spawner-4]: process started with pid [12223]
[INFO] [spawner-5]: process started with pid [12224]
[INFO] [spawner-6]: process started with pid [12225]
[ros2_control_node-1] [INFO] [1779777325.627185964] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[robot_state_publisher-3] [INFO] [1779777325.631919689] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1779777325.638191965] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1779777325.644739710] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [INFO] [1779777325.644797784] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-1] [INFO] [1779777325.644811013] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1779777325.644962889] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1779777325.718287216] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1779777325.718381018] [controller_manager]: Enforcing command limits is disabled. Command limits from URDF will be ignored.
[ros2_control_node-1] [INFO] [1779777325.723656778] [controller_manager]: Loading hardware 'FlexivHardwareInterface' 
[ros2_control_node-1] [INFO] [1779777325.727061120] [controller_manager]: Loaded hardware 'FlexivHardwareInterface' from plugin 'flexiv_hardware/FlexivHardwareInterface'
[ros2_control_node-1] [INFO] [1779777325.727835187] [controller_manager]: Initialize hardware 'FlexivHardwareInterface' 
[ros2_control_node-1] [INFO] [1779777325.741071200] [FlexivHardwareInterface]: Connecting to robot Rizon4-063482 ...
[ros2_control_node-1] [2026-05-26 06:35:25.741] [info] | | | | | | | | | |  Flexiv RDK v1.8  | | | | | | | | | |
[ros2_control_node-1] [WARN] [1779777326.022578596] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 1000 Hz. The loop took 1.344913 ms (missed cycles : 2).
[spawner-4] [INFO] [1779777326.175648902] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[joint_state_publisher-2] [INFO] [1779777326.181375497] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher-2] [INFO] [1779777326.197617362] [joint_state_publisher]: Got description, configuring robot
[ros2_control_node-1] [2026-05-26 06:35:26.861] [info] [flexiv::rdk::Robot] Searching for [Rizon4-063482] ...
[ros2_control_node-1] *** stack smashing detected ***: terminated
[ros2_control_node-1] Stack trace (most recent call last) in thread 12312:
[ros2_control_node-1] #7    Object "", at 0xaaaae37484cb, in 
[ros2_control_node-1] #6    Object "/home/ubuntu/program/flexiv_ros2_ws/build/flexiv_hardware/libflexiv_hardware.so", at 0xffff98481dff, in std_msgs::msg::BoolPubSubType::serialize(void*, eprosima::fastrtps::rtps::SerializedPayload_t*, eprosima::fastdds::dds::DataRepresentationId)
[ros2_control_node-1] #5    Source "./debug/stack_chk_fail.c", line 24, in __stack_chk_fail [0xffffad009263]
[ros2_control_node-1] #4    Source "./debug/fortify_fail.c", line 24, in __fortify_fail [0xffffad0082a7]
[ros2_control_node-1] #3    Source "../sysdeps/posix/libc_fatal.c", line 134, in __libc_message_impl [0xffffacf8abf3]
[ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0xffffacf37dff]
[ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0xffffacf4cb3b]
[ros2_control_node-1] #0    Source "./nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0xffffacf97608]
[ros2_control_node-1] Aborted (Signal sent by tkill() 12220 1000)
[ERROR] [ros2_control_node-1]: process has died [pid 12220, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_kn2y1b6c --params-file /tmp/launch_params_h1c41kzo --params-file /tmp/launch_params_7gvz3lyl --params-file /tmp/launch_params__ehx1aj0 -r joint_states:=flexiv_arm/joint_states'].
[spawner-4] [WARN] [1779777336.202830087] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1779777336.203710978] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1779777346.076724926] [ros2_control_controller_spawner_flexiv_robot_states_broadcaster]: Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds...
[spawner-6] [WARN] [1779777346.076794614] [ros2_control_controller_spawner_gpio_controller]: Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds...
[spawner-4] [WARN] [1779777346.234447100] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1779777346.235325438] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...

Please help me with this, thank you.

[zfquek-flexiv]

@stardust-anon We had found the source of the error and it is recommended for you to transit to robot software version 3.11.1 and to use the jazzy-v1 branch. Thank you.

[stardust-anon]

Hi @zfquek-flexiv , could you clarify what you mean by transit to robot software version 3.11.1 and to use the jazzy-v1 branch?
My current robotic arm hardware seems to only support RDK version 1.8. When you mention version 3.11.1, are you referring to the RDK version or some other software version?
Also, regarding the jazzy-v1 branch, which commit do you recommend using?
Finally, what is the difference between the jazzy-v1 branch and the jazzy branch?

[zfquek-flexiv]

@stardust-anon You should be able to consult your sales representative who will help you to upgrade the robot software version from your current 3.10.3 to 3.11.1. From then you will be able to use Flexiv RDK version v1.9.1. The jazzy-v1 branch of the flexiv_ros2 repository is using the Flexiv RDK version v1.9.1

The main difference in the jazzy v1 branch and the jazzy v1.8 branch can be found in https://github.com/flexivrobotics/flexiv_ros2/releases. You can refer to the release document for Jazzy 1.9 and Jazzy 1.9.1 for the changes / additions made to the repository.

[stardust-anon]

@zfquek-flexiv Hi, when you mention the jazzy-v1 branch, are you referring to the branch selection shown in the figure? Or could you directly provide a stable commit ID so that I can check out that specific commit?

[zfquek-flexiv]

@stardust-anon Here is the link to the jazzy-v1 branch. The link below will point to the same branch as "jazzy-v1" shown in the your attached image.

https://github.com/flexivrobotics/flexiv_ros2/tree/jazzy-v1

Thank you.

[stardust-anon]

@zfquek-flexiv I consulted with the sales team, and they mentioned that robot software version 3.11.1 has not yet been released and will only be available in two days.
May I ask if there is a solution for this issue under the current setup of software version 3.10.3 together with RDK v1.8?

[zfquek-flexiv]

@stardust-anon I am sorry for the wait, it is highly recommended by our software engineer to use version 3.11.1 of the robot software along with RDK v1.9.1.

[munseng-flexiv]

Please pull the latest RDK v1.9.1 for the fix. Related PR: flexivrobotics/flexiv_rdk#190