Bug report

Required Info:

• Operating System:

Ubuntu 18.04.5 LTS

• Installation type:
  binaries

• Version or commit hash:
  ROS2 FOXY Development

• DDS implementation:
  Cyclone DDS Version 0.7.0 https://github.com/ros2/rmw_cyclonedds

• RMW
  ROS 2 RMW for Eclipse Cyclone DDS Version 2.2.0 https://github.com/ros2/rmw

• Client library (if applicable):

Steps to reproduce issue

The issue is intermittent

Expected behavior

It should run without error

Actual behavior

[planner_server-21] [ERROR 1605305996.010625274] [rcl]: Failed to get trigger guard condition in jump callback (/ros2_foxy_build/core/src/ros2/rcl/rcl/src/rcl/timer.c:114)
[planner_server-21]
[planner_server-21] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[planner_server-21] This error state is being overwritten:
[planner_server-21]
[planner_server-21] 'guard_condition_handle not from this implementation, at /ros2_foxy_build/core/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/rmw_node.cpp:2713, at /ros2_foxy_build/core/src/ros2/rcl/rcl/src/rcl/guard_condition.c:160'
[planner_server-21]
[planner_server-21] with this new error message:
[planner_server-21]
[planner_server-21] 'guard condition implementation is invalid, at /ros2_foxy_build/core/src/ros2/rcl/rcl/src/rcl/guard_condition.c:174'
[planner_server-21]
[planner_server-21] rcutils_reset_error() should be called after error handling to avoid this.
[planner_server-21] <<<
[planner_server-21] [ERROR 1605306298.359010300] [rcl]: Failed to get trigger guard condition in jump callback (/ros2_foxy_build/core/src/ros2/rcl/rcl/src/rcl/timer.c:114)
[ERROR] [planner_server-21]: process has died [pid 12676, exit code -11, cmd '/opt/ros/foxy/nav2_planner/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpp28qz1d4 -r /tf:=tf -r /tf_static:=tf_static'].

Additional information

ROS2 Costmap Planner application