Code highlighting:

#include <iostream>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/breadth_first_search.hpp>

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS,
                              boost::property<boost::vertex_color_t, boost::default_color_type>> GraphType;

int main()
{
    using namespace boost;

    GraphType g;

    auto a = add_vertex(g);
    auto b = add_vertex(g);
    auto c = add_vertex(g);
    add_edge(a, b, g);
    add_edge(b, c, g);
    add_edge(c, a, g);

    typedef boost::property_map<GraphType, boost::vertex_color_t>::type color_map_t;
    color_map_t colorMap; //Create a color map
    boost::breadth_first_visit(g, *boost::vertices(g).first, boost::color_map(colorMap));

    GraphType::vertex_iterator it, itEnd;
    for (boost::tie(it, itEnd) = boost::vertices(g); it != itEnd; it++)
    {
        std::cout << "Color of node " << *it << " is " << colorMap[*it] << std::endl;
    }
}

The backtrace:

#0  0x0000555555556d70 in std::vector<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>::config::stored_vertex, std::allocator<boost::detail::adj_list_gen<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>::config::stored_vertex> >::operator[] (this=0x18, __n=0) at /usr/include/c++/6/bits/stl_vector.h:781
#1  0x0000555555556674 in boost::vec_adj_list_vertex_property_map<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>*, boost::default_color_type, boost::default_color_type&, boost::vertex_color_t>::operator[] (this=0x7fffffffcb60, v=0) at /usr/include/boost/graph/detail/adjacency_list.hpp:2510
#2  0x0000555555558451 in boost::put<boost::vec_adj_list_vertex_property_map<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>*, boost::default_color_type, boost::default_color_type&, boost::vertex_color_t>, boost::default_color_type&, unsigned long, boost::default_color_type> (pa=..., k=0, 
    v=@0x7fffffffcbcc: boost::gray_color) at /usr/include/boost/property_map/property_map.hpp:309
#3  0x00005555555577b6 in boost::breadth_first_visit<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::queue<unsigned long, std::deque<unsigned long, std::allocator<unsigned long> > >, boost::bfs_visitor<boost::null_visitor>, boost::vec_adj_list_vertex_property_map<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>*, boost::default_color_type, boost::default_color_type&, boost::vertex_color_t>, unsigned long*> (
    g=..., sources_begin=0x7fffffffcd28, sources_end=0x7fffffffcd30, Q=..., vis=..., color=...)
    at /usr/include/boost/graph/breadth_first_search.hpp:75
#4  0x0000555555556c6b in boost::breadth_first_visit<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::queue<unsigned long, std::deque<unsigned long, std::allocator<unsigned long> > >, boost::bfs_visitor<boost::null_visitor>, boost::vec_adj_list_vertex_property_map<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>*, boost::default_color_type, boost::default_color_type&, boost::vertex_color_t> > (g=..., s=0, 
    Q=..., vis=..., color=...) at /usr/include/boost/graph/breadth_first_search.hpp:104
#5  0x00005555555564a0 in boost::breadth_first_visit<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::vec_adj_list_vertex_property_map<boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>, boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::property<boost::vertex_color_t, boost::default_color_type, boost::no_property>, boost::no_property, boost::no_property, boost::listS>*, boost::default_color_type, boost::default_color_type&, boost::vertex_color_t>, boost::vertex_color_t, boost::no_property> (g=..., s=0, params=...) at /usr/include/boost/graph/breadth_first_search.hpp:370
#6  0x0000555555555cce in main () at test.cpp:24

Changing vecS to listS resolves the issue, but I don't think anywhere in the doc mentions that vecS cannot be used.