From b0b057fc253f38def602701122828ad9cbf0df1d Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Mon, 9 Sep 2024 13:57:58 -0700
Subject: [PATCH] Segmentation fault when adding a short-lived node to an
 executor

  Ref: https://github.com/ros2/rmw_fastrtps/issues/777

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 prover_rclcpp/CMakeLists.txt           |  1 +
 prover_rclcpp/src/rmw_fastrtps_777.cpp | 39 ++++++++++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100644 prover_rclcpp/src/rmw_fastrtps_777.cpp

diff --git a/prover_rclcpp/CMakeLists.txt b/prover_rclcpp/CMakeLists.txt
index 3df083a..28b3e70 100644
--- a/prover_rclcpp/CMakeLists.txt
+++ b/prover_rclcpp/CMakeLists.txt
@@ -167,6 +167,7 @@ custom_executable(rmw_fastrtps_554)
 custom_executable(rmw_fastrtps_555)
 custom_executable(rmw_fastrtps_646)
 custom_executable(rmw_fastrtps_728)
+custom_executable(rmw_fastrtps_777)
 
 #custom_executable(ros2_644)
 #custom_executable(ros2_946_pub)
diff --git a/prover_rclcpp/src/rmw_fastrtps_777.cpp b/prover_rclcpp/src/rmw_fastrtps_777.cpp
new file mode 100644
index 0000000..56c6ac3
--- /dev/null
+++ b/prover_rclcpp/src/rmw_fastrtps_777.cpp
@@ -0,0 +1,39 @@
+#include <atomic>
+#include <memory>
+#include <thread>
+
+#include <rclcpp/executors/multi_threaded_executor.hpp>
+#include <rclcpp/node.hpp>
+
+auto function() -> void
+{
+    rclcpp::init(0, nullptr);
+
+    rclcpp::executors::MultiThreadedExecutor executor;
+
+    std::atomic_bool stop_spinning{false};
+    auto spinner_thread{std::thread([&] {
+        while (rclcpp::ok() && !stop_spinning.load()) {
+            executor.spin_some();
+        }
+    })};
+
+    {
+        auto node{std::make_shared<rclcpp::Node>("node")};
+        executor.add_node(node);
+    }
+
+    stop_spinning.store(true);
+    spinner_thread.join();
+
+    rclcpp::shutdown();
+}
+
+auto main() -> int
+{
+    while (true) {
+        function();
+    }
+
+    return 0;
+}