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It has been more than 2 years, but I came across this exact same issue.

The problem seems to be associated with rclcpp::callback_group::CallbackGroup::SharedPtr update_group getting destroyed after the constructor ends, at it is a local variable. The timer then has an invalid reference to non-existent callback group.

Fix this by making rclcpp::callback_group::CallbackGroup::SharedPtr update_group a class member of ControllerNode., and initialising it in the constructor.

The ROS2 tutorial seem slightly misleading, with the callback group looking like a local variable, but this of course depends on the user's context.

It has been more than 2 years, but I came across this exact same issue.

The problem seems to be associated with rclcpp::callback_group::CallbackGroup::SharedPtr update_group getting destroyed after the constructor ends, at it is a local variable. The timer then has an invalid reference to non-existent callback group.

Fix this by making rclcpp::callback_group::CallbackGroup::SharedPtr update_group a class member of ControllerNode., and initialising it in the constructor.

The ROS2 tutorial seem slightly misleading, with the callback group looking like a local variable, but this of course depends on the user's context.

It has been more than 2 years, but I came across this exact same issue.

The problem seems to be associated with rclcpp::callback_group::CallbackGroup::SharedPtr update_group getting destroyed after the constructor ends, at it is a local variable. The timer then has an invalid reference to non-existent callback group.variable.

Fix this by making rclcpp::callback_group::CallbackGroup::SharedPtr update_group a class member of ControllerNode., and initialising it in the constructor.

The ROS2 tutorial seem slightly misleading, with the callback group looking like a local variable, but this of course depends on the user's context.

EDIT:

I just realised this was answered on a duplicate on Stack Overflow