[xmfcx]

Description

test_autoware_behavior_velocity_traffic_light_module sometimes passes all 13 tests and then exits with SIGSEGV (-11). CTest then marks it failed.

The cause is in TrafficLightModuleTest. Its SetUp calls rclcpp::init() when the context is not ok, but no test calls rclcpp::shutdown(). The tests in test_node_interface.cpp do shut down. So the default context stays valid until the process exits. Its static destructor then calls Context::shutdown() during exit, and that can crash. The likely reason is that other static objects that it needs are already destroyed at that point. The backtrace does not show which one.

The backtrace of a crash:

#0  rclcpp::Context::shutdown(std::string const&) () from /opt/ros/jazzy/lib/librclcpp.so
#1  rclcpp::Context::~Context() () from /opt/ros/jazzy/lib/librclcpp.so
#2  ?? () from /opt/ros/jazzy/lib/librclcpp.so
#3  __run_exit_handlers (...) at ./stdlib/exit.c:108
#4  __GI_exit (...) at ./stdlib/exit.c:138

This PR adds a TearDown() that calls rclcpp::shutdown(). SetUp already calls rclcpp::init() again when the context is not ok, so each test gets a fresh context.

Related links

• Fixes Fix the SIGSEGV at exit of test_autoware_behavior_velocity_traffic_light_module #13521

The failure on main of autoware_core, in the build-and-test-jazzy-above job, which builds this package from autoware_universe main:

• Daily run, 2026-10-16
• Push run, 2026-10-16

How was this PR tested?

See Verification below.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None. Only a test changes.

AI usage

AI usage: Written with Claude Code in Breeze from the failed autoware_core CI runs. It reproduced the crash, read the core dumps, and wrote the fix.

Self-review: One review round by a separate AI session with a clean context, on ec58127e4f. It found no problem in the code. It found one contradiction in this description, which is now fixed. It also noted a side benefit: the fixture no longer leaves a context alive, so the unguarded rclcpp::init() in test_node_interface.cpp would no longer throw under --gtest_shuffle.

Verification: The test binary ran 240 times before and after the fix on ROS 2 Jazzy with Cyclone DDS: 27 crashes before, 0 after. colcon test of the package passes.

Repeat run before the fix

• Local Jazzy workspace, RMW_IMPLEMENTATION=rmw_cyclonedds_cpp (the same as the CI job), autoware_universe at 4fb338fa76. The test file is the same as on main.
• The test binary ran 240 times, 8 at a time, each with its own ROS_DOMAIN_ID: 27 of 240 exited with 139 (SIGSEGV). Each crash log ends with [ PASSED ] 13 tests., the same as in CI.
• Under gdb, 120 runs gave no crash. The timing must be real to hit it.

Core dumps

• 48 more runs with core dumps on: 5 crashed. Two cores read with gdb show the backtrace above, in the main thread.

Repeat run after the fix

• colcon build --packages-select autoware_behavior_velocity_traffic_light_module, then the same 240 runs: 240 of 240 exited with 0.

colcon test

• colcon test --packages-select autoware_behavior_velocity_traffic_light_module: 50 tests, 0 errors, 0 failures, 14 skipped (the skips are cppcheck).

• Did not run: Humble, because the local workspace is Jazzy only.

• Did not run: Fast DDS or Zenoh. I tested only Cyclone DDS, which the CI job uses.

• Did not run: the CI of autoware_core or autoware_universe with this change.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 37.64%. Comparing base (f81a3bf) to head (ec58127).
⚠️ Report is 8 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #13507      +/-   ##
==========================================
- Coverage   37.68%   37.64%   -0.05%     
==========================================
  Files        2034     2037       +3     
  Lines      141948   142131     +183     
==========================================
+ Hits        53500    53505       +5     
- Misses      88448    88626     +178     

Flag	Coverage Δ		*Carryforward flag
daily	?
full-suite	37.64% <ø> (-0.05%)	⬇️	Carriedforward from fad5625

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Harness.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.