Set useBuiltinTransports to false cause Segmentation fault

[jack0622]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

when I run a process and quit it with Ctrl-C, it should quit normally.

Current behavior

when I run a process and quit it with Ctrl-C, it cause a Segmentation fault

Steps to reproduce

This is my xml file segment:
`<transport_descriptors>
<transport_descriptor>
<transport_id>SHM_SAMPLE_DESCRIPTOR</transport_id>
SHM
2168576
<segment_size>104857600</segment_size>
</transport_descriptor>
</transport_descriptors>

    <participant profile_name="AA_participant_profile">
        <domainId>200</domainId>
        <rtps>
            <name>Lidar_Pub_Demo</name>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                    <transport_id>SHM_SAMPLE_DESCRIPTOR</transport_id>
            </userTransports>
        </rtps>
    </participant>

`

I set useBuiltinTransports to false and use SHM, run my progress and stop it with Ctrl-C, it will cause a Segmentation fault. If I set useBuiltinTransports to false and use UDP or set useBuiltinTransports to true, it works all right.

The function remove_port() in src/cpp/rtps/transport/shared_mem/SharedMemGlobal.hpp causes this bug. It seems
the port in watched_ports_ is freed previously.

Fast DDS version/commit

v3.2.0

Platform/Architecture

Ubuntu Focal 20.04 arm64

Transport layer

Shared Memory Transport (SHM)

Additional context

No response

XML configuration file

<transport_descriptors>
            <transport_descriptor>
                <transport_id>SHM_SAMPLE_DESCRIPTOR</transport_id>
                    <type>SHM</type> <!-- REQUIRED -->
                    <maxMessageSize>2168576</maxMessageSize>
                    <segment_size>104857600</segment_size>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="AA_participant_profile">
            <domainId>200</domainId>
            <rtps>
                <name>Lidar_Pub_Demo</name>
                <useBuiltinTransports>false</useBuiltinTransports>
                <userTransports>
                        <transport_id>SHM_SAMPLE_DESCRIPTOR</transport_id>
                </userTransports>
            </rtps>
        </participant>

Relevant log output

nvidia@tegra-ubuntu:~/luwei/LidarService$ ./run_pub.sh 
LidarSrvPublisher::start()...
^CCaught signal number 2 (Interrupt)
LidarDataPub report execution state: kTerminating
LidarDataPub application exited
LidarSrvPublisher::stop()...
./run_pub.sh: line 12: 1624023 Segmentation fault      ./Lidar_Pub
nvidia@tegra-ubuntu:~/luwei/LidarService$

Network traffic capture

No response