Why does changing and recompiling a package cause other container to crash, but recompiling the entire project allows it to run normally?

[luojiaxiang11]

Hello,

When I add a variable in TrajectoryPoint.idl in autoware_auto_planning_msgs, it causes motion_planning_container to crash.Error message as follows:

`[component_container-34] [INFO] [1726040710.930759684] [control.trajectory_follower.lane_departure_checker_node]: waiting for reference_trajectory msg...
[component_container_mt-29] [INFO] [1726040712.135913496] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = run_out, id = 0
[component_container_mt-29] [INFO] [1726040712.157572332] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner]: register task: module = out_of_lane, id = 0
[component_container_mt-30] *** Aborted at 1726040712 (unix time) try "date -d @1726040712" if you are using GNU date ***
[component_container_mt-35] [INFO] [1726040713.055692437] [default_ad_api.node.operation_mode]: control, planning component state is unhealthy. Autonomous is not available.
[component_container_mt-30] PC: @                0x0 (unknown)
[component_container_mt-30] *** SIGSEGV (@0x5c91dde27000) received by PID 90940 (TID 0x7d453b721f40) from PID 18446744073137188864; stack trace: ***
[component_container_mt-30]     @     0x7d4539a2a046 (unknown)
[component_container_mt-30]     @     0x7d453b842520 (unknown)
[component_container_mt-30]     @     0x7d4537d99198 motion_utils::removeOverlapPoints<>()
[component_container_mt-30]     @     0x7d4537d9931d motion_utils::calcLongitudinalOffsetToSegment<>()
[component_container_mt-30]     @     0x7d4537d9a4e0 motion_utils::findFirstNearestSegmentIndexWithSoftConstraints<>()
[component_container_mt-30]     @     0x7d4538781ed2 path_smoother::EBPathSmoother::smoothTrajectory()
[component_container_mt-30]     @     0x7d453879c821 path_smoother::ElasticBandSmoother::onPath()
[component_container_mt-30]     @     0x7d45387aed68 std::_Function_handler<>::_M_invoke()
[component_container_mt-30]     @     0x7d45387ae447 _ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN27autoware_auto_planning_msgs3msg5Path_ISaIvEEESA_E8dispatchESt10shared_ptrISB_ERKNS5_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKSB_EESN_IFvSP_SH_EESN_IFvRKNS5_17SerializedMessageEEESN_IFvSW_SH_EESN_IFvSt10unique_ptrISB_St14default_deleteISB_EEEESN_IFvS14_SH_EESN_IFvS11_ISU_S12_ISU_EEEESN_IFvS1A_SH_EESN_IFvSD_ISO_EEESN_IFvS1F_SH_EESN_IFvSD_ISV_EEESN_IFvS1K_SH_EESN_IFvRKS1F_EESN_IFvS1Q_SH_EESN_IFvRKS1K_EESN_IFvS1W_SH_EESN_IFvSE_EESN_IFvSE_SH_EESN_IFvSD_ISU_EEESN_IFvS25_SH_EEEEEJEEESt16integer_sequenceImJLm8EEEE14__visit_invokeESL_S2B_
[component_container_mt-30]     @     0x7d45387cb2a5 rclcpp::Subscription<>::handle_message()
[component_container_mt-30]     @     0x7d453bf7d7ac rclcpp::Executor::execute_subscription()
[component_container_mt-30]     @     0x7d453bf7dfaf rclcpp::Executor::execute_any_executable()
[component_container_mt-30]     @     0x7d453bf8526a rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-30]     @     0x7d453bf856a5 rclcpp::executors::MultiThreadedExecutor::spin()
[component_container_mt-30]     @     0x5c91dc3ad659 (unknown)
[component_container_mt-30]     @     0x7d453b829d90 (unknown)
[component_container_mt-30]     @     0x7d453b829e40 __libc_start_main
[component_container_mt-30]     @     0x5c91dc3ad995 (unknown)
[component_container_mt-30]     @                0x0 (unknown)
[component_container-34] [INFO] [1726040714.789453535] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory.
[component_container-34] [INFO] [1726040714.789588759] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
[ERROR] [component_container_mt-30]: process has died [pid 90940, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=motion_planning_container -r __ns:=/planning/scenario_planning/lane_driving/motion_planning -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].`

But when I recompile the entire Autoware project, it can run normally. Why is that? Is there any solution without recompiling the entire Autoware project? Can someone please assist?

[maxime-clem]

I add a variable in TrajectoryPoint.idl in autoware_auto_planning_msgs

If you do not rebuild all packages that use the TrajectoryPoint message, then they will still use the "old" message definition which can create wrong memory access.
The solution is to build all packages that depend on autoware_auto_planning_msgs, which I think can be done with the colcon build option --packages-above (see https://colcon.readthedocs.io/en/released/reference/package-selection-arguments.html).

[liuXinGangChina]

因为你修改的消息，也被别的模块使用了，如果你只编译部分包，那么其他使用了这个消息但是并没有被编译的包就会使用修改前的消息格式，自然就会出错了

happy hacking！

[liuXinGangChina]

since the answer has been there a while, i will close this and mark it answered