std::runtime_error what(): 'data' is empty with component container multithread

My setup:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • ROS2 Iron from source
• Version or commit hash:
  • ros2.repos
• DDS implementation:
  • rmw_fastrtps_cpp
• Client library (if applicable):
  • rclcpp

I am developing a state estimation application based on fuse package on my robot. I would like to have two separate callback groups, a dedicated one for a rclpp::Timer here, and the node default one for handling callbacks from rclcpp::Subscriptions. In order for the two to work in parallel, I would like to use a multithreaded executor with num_threads = 2. However, when I launch my node inside a component_container_mt it shuts down with the following error:

[component_container_mt-3] terminate called after throwing an instance of 'std::runtime_error' [component_container_mt-3] what(): 'data' is empty

I am running into this issue while deploying the package on my robot architecture, which is a VersaLogic Copperhead VL-EBX-41.

Start by reviewing the linked fuse_optimizers/src/fixed_lag_smoother.cpp timer setup and reproduce the failure in a ROS 2 Iron component_container_mt using rclcpp and rmw_fastrtps_cpp. Trace the source of the 'data' is empty exception; done means identifying the multithreaded component-container failure and providing a verified fix or a minimal reproducible case.