There is currently a critical bug in rcl (that causes crashes during endurance tests rclcpp::exceptions::RCLError / rcl_wait() failed: error not set · Issue #1977 · ros2/rclcpp · GitHub) that has just been fixed by a PR in Humble: fixed rcl_wait return error when timer cancelled (backport #1003) by mergify[bot] · Pull Request #1006 · ros2/rcl · GitHub
Can we make sure that it is included in the next sync ?