Choreonoid aborts in CI about multicontactcontroller HOT 6 CLOSED

Hi @mmurooka

I think this is related to the robots/env bug (it's just a different manifestation), I think it doesn't happen on the most recent runs?

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Yes, it is solved by 45838c6

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The same problem still seems to occur at CI with low frequency.
https://github.com/isri-aist/MultiContactController/actions/runs/4134994629/jobs/7146853595
https://github.com/isri-aist/MultiContactController/actions/runs/4131754151/jobs/7139894439

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I believe this problem has occurred several times on the local PC, and although I have not been able to reproduce it in gdb, the terminal output when the controller is started via choreonoid is as follows: The "[overwriteConfig]" message is printed just before the constructor of fsm::Controller, so the segmentation fault must be caused in the constructors of MultiContactController, fsm::Controller, or MCController. (BTW, the overwrite just before the controller constructor will be eliminated soon for sure.)

[info] Create controller MultiContactController
[success] [overwriteConfig] Overwrite with configuration jvrc1.
Segmentation fault

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Hi @mmurooka

I think this should be definitely fixed by jrl-umi3218/mc_rtc@1651fa9

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@gergondet Thank you!

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