rpi3b+ becomes unresponsive after closing a program

I am running ROS2 on this raspberry pi 3B+ that is running as the main computer on a turtlebot3. There is two USB devices connected to the RPi, one is to communicate with the LIDAR and the other is to communicate with the control board, a OpenCR board.

After "bringing the robot up" I open a new shell in tmux, and run `ros2 topic echo battery_state` which starts outputting ROS2 messages to the terminal. Upon ctrl+c'ing out of this, the system become unresponsive. I repeated this while connected to the serial console and captured the error messages that are being output.

Issue I rose on github:
https://github.com/ROBOTIS-GIT/turtlebot3/issues/593

ProblemType: Bug
DistroRelease: Ubuntu 20.04
Package: linux-image-5.4.0-1011-raspi 5.4.0-1011.11
ProcVersionSignature: User Name 5.4.0-1011.11-raspi 5.4.34
Uname: Linux 5.4.0-1011-raspi aarch64
ApportVersion: 2.20.11-0ubuntu27
Architecture: arm64
CasperMD5CheckResult: skip
Date: Sun May 24 10:31:26 2020
SourcePackage: linux-raspi
UpgradeStatus: No upgrade log present (probably fresh install)

Serial console output:

MMC: mmc@7e202000: 0, mmcnr@7e300000: 1
Loading Environment from FAT... *** Warning - bad CRC, using default environment

In: serial
Out: vidconsole
Err: vidconsole
Net: No ethernet found.
starting USB...
Bus usb@7e980000: scanning bus usb@7e980000 for devices... 6 USB Device(s) found
       scanning usb for storage devices... 0 Storage Device(s) found
## Info: input data size = 6 = 0x6
Hit any key to stop autoboot: 0
switch to partitions #0, OK
mmc0 is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
2603 bytes read in 6 ms (422.9 KiB/s)
## Executing script at 02400000
8378005 bytes read in 364 ms (21.9 MiB/s)
Total of 1 halfword(s) were the same
Decompressing kernel...
Uncompressed size: 25905664 = 0x18B4A00
29426757 bytes read in 1262 ms (22.2 MiB/s)
Booting Ubuntu (with booti) from mmc 0:...
## Flattened Device Tree blob at 02600000
   Booting using the fdt blob at 0x2600000
   Using Device Tree in place at 0000000002600000, end 0000000002609f2f

Starting kernel ...

[ 1.966598] spi-bcm2835 3f204000.spi: could not get clk: -517
ln: /tmp/mountroot-fail-hooks.d//scripts/init-premount/lvm2: No such file or directory
ext4
Thu Jan 1 00:00:07 UTC 1970
date: invalid date ' Wed Apr 1 17:23:46 2020'
-.mount
dev-mqueue.mount
sys-kernel-debug.mount
sys-kernel-tracing.mount
kmod-static-nodes.service
systemd-modules-load.service
systemd-remount-fs.service
ufw.service
sys-fs-fuse-connections.mount
sys-kernel-config.mount
systemd-sysctl.service
systemd-random-seed.service
systemd-sysusers.service
keyboard-setup.service
systemd-tmpfiles-setup-dev.service
swapfile.swap
lvm2-monitor.service
systemd-udevd.service
systemd-journald.service
systemd-udev-trigger.service
systemd-journal-flush.service
[ 14.813759] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 15.128676] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 15.174878] brcmfmac: brcmf_c_preinit_dcmds: Firmware: BCM4345/6 wl0: Feb 27 2018 03:15:32 version 7.45.154 (r684107 CY) FWID 01-4fbe0b04
systemd-rfkill.service
systemd-udev-settle.service
netplan-wpa-wlan0.service
multipathd.service
[ 17.840942] brcmfmac: brcmf_cfg80211_set_power_mgmt: power save enabled
systemd-fsckd.service
snap-core18-1708.mount
snap-core18-1753.mount
snap-lxd-14808.mount
snap-lxd-15066.mount
snap-snapd-7267.mount
systemd-fsck@dev-disk-by\x2dlabel-system\x2dboot.service
boot-firmware.mount
console-setup.service
         Mounting Arbitrary Executable File Formats File System...
finalrd.service
[ OK ] Finished Tell Plymouth To Write Out Runtime Data.
[ OK ] Mounted Arbitrary Executable File Formats File System.
proc-sys-fs-binfmt_misc.mount
[ OK ] Finished Create Volatile Files and Directories.
systemd-tmpfiles-setup.service
         Starting Network Time Synchronization...
         Starting Update UTMP about System Boot/Shutdown...
[ OK ] Finished Enable support for…onal executable binary formats.
binfmt-support.service
[ OK ] Finished Update UTMP about System Boot/Shutdown.
systemd-update-utmp.service
[ OK ] Finished Load AppArmor profiles.
apparmor.service
         Starting Load AppArmor prof… managed internally by snapd...
[ OK ] Finished Load AppArmor prof…es managed internally by snapd.
snapd.apparmor.service
[ OK ] Started Network Time Synchronization.
[ OK ] Reached target System Time Set.
[ OK ] Reached target System Time Synchronized.
systemd-timesyncd.service
[ 25.080879] cloud-init[1148]: Cloud-init v. 20.1-10-g71af48df-0ubuntu5 running 'init-local' at Sun, 24 May 2020 08:15:54 +0000. Up 24.20 seconds.
[ OK ] Finished Initial cloud-init job (pre-networking).
[ OK ] Reached target Network (Pre).
cloud-init-local.service
         Starting Network Service...
[ OK ] Started Network Service.
systemd-networkd.service
         Starting Wait for Network to be Configured...
         Starting Network Name Resolution...
[ OK ] Finished Wait for Network to be Configured.
systemd-networkd-wait-online.service
         Starting Initial cloud-init…b (metadata service crawler)...
[ OK ] Started Network Name Resolution.
[ OK ] Reached target Host and Network Name Lookups.
systemd-resolved.service
[ 29.538238] cloud-init[1170]: Cloud-init v. 20.1-10-g71af48df-0ubuntu5 running 'init' at Sun, 24 May 2020 08:15:59 +0000. Up 28.67 seconds.
[ 29.538788] cloud-init[1170]: ci-info: ++++++++++++++++++++++++++++++++++++++Net device info+++++++++++++++++++++++++++++++++++++++
[ 29.540670] cloud-init[1170]: ci-info: +--------+-------+----------------------------+---------------+--------+-------------------+
[ 29.541896] cloud-init[1170]: ci-info: | Device | Up | Address | Mask | Scope | Hw-Address |
[ 29.543805] cloud-init[1170]: ci-info: +--------+-------+----------------------------+---------------+--------+-------------------+
[ 29.545298] cloud-init[1170]: ci-info: | eth0 | False | . | . | . | b8:27:eb:89:55:2a |
[ 29.546816] cloud-init[1170]: ci-info: | lo | True | 127.0.0.1 | 255.0.0.0 | host | . |
[ 29.548589] cloud-init[1170]: ci-info: | lo | True | ::1/128 | . | host | . |
[ 29.550684] cloud-init[1170]: ci-info: | wlan0 | True | 192.168.1.104 | 255.255.255.0 | global | b8:27:xx:dc:xx:xx |
[ 29.552179] cloud-init[1170]: ci-info: | wlan0 | True | fe80::ba27:ebff:fedc:7f/64 | . | link | b8:27:xx:dc:xx:xx |
[ 29.554004] cloud-init[1170]: ci-info: +--------+-------+----------------------------+---------------+--------+-------------------+
[ 29.555532] cloud-init[1170]: ci-info: ++++++++++++++++++++++++++++++Route IPv4 info++++++++++++++++++++++++++++++
[ 29.557284] cloud-init[1170]: ci-info: +-------+-------------+-------------+-----------------+-----------+-------+
[ 29.558922] cloud-init[1170]: ci-info: | Route | Destination | Gateway | Genmask | Interface | Flags |
[ 29.560561] cloud-init[1170]: ci-info: +-------+-------------+-------------+-----------------+-----------+-------+
[ 29.562171] cloud-init[1170]: ci-info: | 0 | 0.0.0.0 | 192.168.1.1 | 0.0.0.0 | wlan0 | UG |
[ 29.564460] cloud-init[1170]: ci-info: | 1 | 192.168.1.0 | 0.0.0.0 | 255.255.255.0 | wlan0 | U |
[ 29.566004] cloud-init[1170]: ci-info: | 2 | 192.168.1.1 | 0.0.0.0 | 255.255.255.255 | wlan0 | UH |
[ 29.567921] cloud-init[1170]: ci-info: +-------+-------------+-------------+-----------------+-----------+-------+
[ 29.569529] cloud-init[1170]: ci-info: +++++++++++++++++++Route IPv6 info+++++++++++++++++++
[ 29.571384] cloud-init[1170]: ci-info: +-------+-------------+---------+-----------+-------+
[ 29.573242] cloud-init[1170]: ci-info: | Route | Destination | Gateway | Interface | Flags |
[ 29.575341] cloud-init[1170]: ci-info: +-------+-------------+---------+-----------+-------+
[ 29.577009] cloud-init[1170]: ci-info: | 1 | fe80::/64 | :: | wlan0 | U |
[ 29.578952] cloud-init[1170]: ci-info: | 3 | local | :: | wlan0 | U |
[ 29.580974] cloud-init[1170]: ci-info: | 4 | ff00::/8 | :: | wlan0 | U |
[ 29.582773] cloud-init[1170]: ci-info: +-------+-------------+---------+-----------+-------+
[ OK ] Finished Initial cloud-init job (metadata service crawler).
[ OK ] Reached target Cloud-config availability.
[ OK ] Reached target System Initialization.
cloud-init.service
[ OK ] Started Daily apt download activities.
[ OK ] Started Daily apt upgrade and clean activities.
[ OK ] Started Periodic ext4 Onlin…data Check for All Filesystems.
[ OK ] Started Discard unused blocks once a week.
[ OK ] Started Refresh fwupd metadata regularly.
[ OK ] Started Daily rotation of log files.
[ OK ] Started Daily man-db regeneration.
[ OK ] Started Message of the Day.
[ OK ] Started Daily Cleanup of Temporary Directories.
[ OK ] Reached target Paths.
[ OK ] Reached target Timers.
[ OK ] Listening on Avahi mDNS/DNS-SD Stack Activation Socket.
[ OK ] Listening on D-Bus System Message Bus Socket.
[ OK ] Listening on Open-iSCSI iscsid Socket.
[ OK ] Listening on Socket unix for snap application lxd.daemon.
         Starting Socket activation for snappy daemon.
[ OK ] Listening on UUID daemon activation socket.
[ OK ] Listening on Socket activation for snappy daemon.
[ OK ] Reached target Sockets.
[ OK ] Reached target Basic System.
         Starting Accounts Service...
         Starting Avahi mDNS/DNS-SD Stack...
[ OK ] Started D-Bus System Message Bus.
dbus.service
[ OK ] Started Save initial kernel messages after boot.
dmesg.service
         Starting Remove Stale Onlin…xt4 Metadata Check Snapshots...
[ OK ] Started irqbalance daemon.
irqbalance.service
         Starting Dispatcher daemon for systemd-networkd...
[ OK ] Started Set the CPU Frequency Scaling governor.
ondemand.service
         Starting System Logging Service...
         Starting Snap Daemon...
         Starting Login Service...
         Starting WPA supplicant...
[ OK ] Finished Remove Stale Online ext4 Metadata Check Snapshots.
[ OK ] Started System Logging Service.
rsyslog.service
[ OK ] Started WPA supplicant.
wpa_supplicant.service
[ OK ] Started Avahi mDNS/DNS-SD Stack.
[ OK ] Reached target Network.
avahi-daemon.service
[ OK ] Reached target Network is Online.
[ OK ] Reached target Remote File Systems (Pre).
[ OK ] Reached target Remote File Systems.
         Starting LSB: automatic crash report generation...
         Starting Deferred execution scheduler...
         Starting Availability of block devices...
[ OK ] Started Regular background program processing daemon.
cron.service
         Starting Service for snap application lxd.activate...
         Starting OpenBSD Secure Shell server...
         Starting Permit User Sessions...
[ OK ] Started Deferred execution scheduler.
atd.service
[ OK ] Finished Availability of block devices.
blk-availability.service
[ OK ] Started Login Service.
systemd-logind.service
[ OK ] Finished Permit User Sessions.
systemd-user-sessions.service
         Starting Hold until boot process finishes up...
         Starting Terminate Plymouth Boot Screen...

Ubuntu 20.04 LTS whopper ttyS0

whopper login:

[ 379.937717] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 379.946532] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 379.957445] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 380.993421] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 381.002224] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 381.002229] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 382.049419] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 382.058204] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 382.069109] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 383.105431] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 383.117817] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 383.132371] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 384.161443] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 384.173864] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 384.188390] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 385.217451] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 385.229839] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 385.244342] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 386.273448] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 386.285902] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 386.300457] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 387.333453] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 387.345845] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 387.360371] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 388.385476] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 388.397857] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 388.412356] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 389.445471] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 389.457865] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 389.472366] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 390.117438] mmc0: timeout waiting for hardware interrupt.
[ 390.373441] mmc1: Timeout waiting for hardware interrupt.
[ 390.380828] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 390.501480] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 390.513696] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 390.528025] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 391.553488] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 391.565694] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 391.580033] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 392.609489] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 392.621701] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 392.636036] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 393.665497] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 393.677717] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 393.692057] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 394.725504] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 394.737709] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 394.752122] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 395.777509] bcm2835-cpufreq:bcm2835_cpufreq_set_clock:76: Failed to set clock: 1400000 (-110)
[ 395.789895] bcm2835-cpufreq:bcm2835_cpufreq_driver_target_index:176: Error occurred setting a new frequency (1400000)
[ 395.804412] cpufreq: __target_index: Failed to change cpu frequency: -22
[ 400.109498] rcu: INFO: rcu_sched detected stalls on CPUs/tasks:
[ 400.117471] rcu: 3-...0: (0 ticks this GP) idle=3ce/1/0x4000000000000002 softirq=19876/19876 fqs=2442
[ 400.353510] mmc0: timeout waiting for hardware interrupt.
[ 400.609504] mmc1: Timeout waiting for hardware interrupt.
[ 400.616877] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 410.593565] mmc0: timeout waiting for hardware interrupt.
[ 410.849594] mmc1: Timeout waiting for hardware interrupt.
[ 410.856918] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 420.837624] mmc0: timeout waiting for hardware interrupt.
[ 421.089625] mmc1: Timeout waiting for hardware interrupt.
[ 421.096834] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 431.073685] mmc0: timeout waiting for hardware interrupt.
[ 431.329691] mmc1: Timeout waiting for hardware interrupt.
[ 431.336803] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 441.313750] mmc0: timeout waiting for hardware interrupt.
[ 441.569749] mmc1: Timeout waiting for hardware interrupt.
[ 441.576783] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110
[ 451.553804] mmc0: timeout waiting for hardware interrupt.
[ 451.809805] mmc1: Timeout waiting for hardware interrupt.
[ 451.816732] brcmfmac: brcmf_sdio_htclk: HT Avail request error: -110