segfault in pal_statistics with gz_ros2_control

[knmcguire]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

When I load a gz_ros2_control plugin in an urdf in gazebo, I get a very big large segfault pointing to pal_statistics used by ControllerManager, loaded by gz_ros2_control. I'm reporting it here as it was suggested that it might be a packaging issue. The full stacktrace is in this issue here: knmcguire/tb4_pixi#4

This only happens in windows, as I don't see these issues in Ubuntu (WSL) with those plugins.

It is quite difficult to create a minimal example as this is quite specific, but I've tried by making a branch on the repo with the pixi.toml I'm working on with minimal URDF files: knmcguire/tb4_pixi#6. The test instructions are in the draft PR. Alternatively I can also only provide the 2 files + pixi.toml but I thought a simple draft PR might be just as easy? If not.. just let me know!

pixi_list_gz_fail.txt

Installed packages

pixi list: See above attached file (too large to paste here)

Environment info

pixi info
System
------------
       Pixi version: 0.71.2
        TLS backend: rustls
           Platform: win-64
   Virtual packages: __win=10.0.26200=0
                   : __cuda=13.3=0
                   : __cuda_arch=8.6=0
                   : __archspec=1=x86_64_v3
          Cache dir: C:\Users\kimbe\AppData\Local\rattler\cache
       Auth storage: C:\Users\kimbe\.rattler\credentials.json
   Config locations: No config files found

Global
------------
            Bin dir: C:\Users\kimbe\.pixi\bin
    Environment dir: C:\Users\kimbe\.pixi\envs
       Manifest dir: C:\Users\kimbe\.pixi\manifests\pixi-global.toml

Workspace
------------
               Name: roscon2025-intro-workshop
            Version: 1.0.0
      Manifest file: C:\Users\kimbe\Development\roscon\tb4_pixi\pixi.toml
       Last updated: 21-07-2026 23:07:20

Environments
------------
        Environment: default
           Features: default
           Channels: https://prefix.dev/robostack-jazzy, conda-forge
   Dependency count: 46
       Dependencies: ros-jazzy-desktop, ros-jazzy-ros-gz, ros-jazzy-teleop-twist-keyboard, ros-jazzy-nav2-bringup, ros-jazzy-navigation2, ros-jazzy-slam-toolbox, ros-jazzy-robot-localization, ros-jazzy-xacro, ros-jazzy-joint-state-publisher, ros-jazzy-joint-state-publisher-gui, ros-jazzy-ros2-control, ros-jazzy-ros2-controllers, ros-jazzy-gz-ros2-control, ros-jazzy-rsl, ros-jazzy-turtlebot4-simulator, ros-jazzy-turtlebot4-gz-bringup, ros-jazzy-turtlebot4-gz-gui-plugins, ros-jazzy-turtlebot4-gz-toolbox, ros-jazzy-turtlebot4-description, ros-jazzy-turtlebot4-msgs, ros-jazzy-turtlebot4-navigation, ros-jazzy-turtlebot4-node, ros-jazzy-turtlebot4-desktop, ros-jazzy-turtlebot4-viz, ros-jazzy-irobot-create-msgs, ros-jazzy-irobot-create-common-bringup, ros-jazzy-irobot-create-control, ros-jazzy-irobot-create-description, ros-jazzy-irobot-create-nodes, ros-jazzy-irobot-create-toolbox, ros-jazzy-irobot-create-gz-bringup, ros-jazzy-irobot-create-gz-plugins, ros-jazzy-irobot-create-gz-sim, ros-jazzy-irobot-create-gz-toolbox, colcon-common-extensions, rosdep, vcstool, compilers, cmake, ninja, pkg-config, make, git, python, setuptools, vs2022_win-64
   Target platforms: osx-64, win-64, linux-aarch64, linux-64, osx-arm64
  Resolved platform: win-64 (archspec=x86_64, windows=10.0)
   Minimum platform: win-64 (windows)
    Prefix location: C:\Users\kimbe\Development\roscon\tb4_pixi\.pixi\envs\default
              Tasks: sim, setup, clean, drive-circle, teleop, deps-check, build, sim-gui, stop-sim, sim-robot, sim-server