validate msg onto /initialpose would result in a stack-buffer-overflow bug in nav2_amcl #4294
Description
Bug report
Required Info:
- Operating System:
- Ubuntu22.04
- ROS2 Version:
- humble
- Version or commit hash:
- the latest
- DDS implementation:
- defaulted
Steps to reproduce issue
Launch the navigation2 normally, as following steps:
#!/bin/bash
export ASAN_OPTIONS=halt_on_error=0:new_delete_type_mismatch=0:detect_leaks=0:log_pah=asan
source install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True use_rviz:=False use_composition:=False Curious about how nav2 face to topic-interception, i sent validate /PoseWithCovarianceStamped msg onto topic /initialpose, which is like this:
ros2 topic pub /initialpose geometry_msgs/PoseWithCovarianceStamped "
header:
frame_id: map
stamp:
nanosec: 146734875
sec: 1711029956
pose:
covariance:
- 0.25
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- .nan
- 0.0
- .nan
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1.8985442697712696e-305
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.000000
- 0.0
- 0.0
- 0.06853891909122467
pose:
orientation:
w: 0.9440542194053062
x: 0.0
y: 0.0
z: -0.32979028309372299
position:
x: 0.50010401010515571
y: 1.7468730211257935
z: 0.0" -1[notice] here's some .nan value in such validate message.
Expected behavior
Actual behavior
The ASAN reporting a stack-buffer-overflow bug to me as following, and the nav2_amcl stop its work.
=================================================================
==8261==ERROR: AddressSanitizer: stack-buffer-overflow on address 0x7ffded1003f8 at pc 0x7b4da0922499 bp 0x7ffded100030 sp 0x7ffded100028
READ of size 8 at 0x7ffded1003f8 thread T0
#0 0x7b4da0922498 in eigen_decomposition (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0x10498) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#1 0x7b4da091fca5 in pf_matrix_unitary (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0xdca5) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#2 0x7b4da091ea8f in pf_pdf_gaussian_alloc (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0xca8f) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#3 0x7b4da0917fa3 in pf_init (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0x5fa3) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#4 0x7b4da0f46df2 in nav2_amcl::AmclNode::handleInitialPose(geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >&) (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x346df2) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#5 0x7b4da0f446c6 in nav2_amcl::AmclNode::initialPoseReceived(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >) (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x3446c6) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#6 0x7b4da1126d57 in void std::__invoke_impl<void, void (nav2_amcl::AmclNode::*&)(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >), nav2_amcl::AmclNode*&, std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > > >(std::__invoke_memfun_deref, void (nav2_amcl::AmclNode::*&)(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >), nav2_amcl::AmclNode*&, std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >&&) (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x526d57) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#7 0x7b4da11561cb in auto rclcpp::AnySubscriptionCallback<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::'lambda'(auto&&)::operator()<std::function<void (std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >)>&>(auto&&) const (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x5561cb) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#8 0x7b4da1153061 in rclcpp::AnySubscriptionCallback<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&) (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x553061) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#9 0x7b4da112fc34 in rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, std::allocator<void>, geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> > >::handle_message(std::shared_ptr<void>&, rclcpp::MessageInfo const&) (/home/***/nav2/install/nav2_amcl/lib/libamcl_core.so+0x52fc34) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#10 0x7b4da1f5c7bb in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (/opt/ros/humble/lib/librclcpp.so+0xe77bb) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#11 0x7b4da1f5cfbe in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) (/opt/ros/humble/lib/librclcpp.so+0xe7fbe) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#12 0x7b4da1f648af in rclcpp::executors::SingleThreadedExecutor::spin() (/opt/ros/humble/lib/librclcpp.so+0xef8af) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#13 0x7b4da1f64ac4 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) (/opt/ros/humble/lib/librclcpp.so+0xefac4) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#14 0x5f22ccd704cd in main (/home/***/nav2/install/nav2_amcl/lib/nav2_amcl/amcl+0xe84cd) (BuildId: 6374af6c6a02284720c5116aa2ef067ebdd75367)
#15 0x7b4da0229d8f in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
#16 0x7b4da0229e3f in __libc_start_main csu/../csu/libc-start.c:392:3
#17 0x5f22cccaf5e4 in _start (/home/***/nav2/install/nav2_amcl/lib/nav2_amcl/amcl+0x275e4) (BuildId: 6374af6c6a02284720c5116aa2ef067ebdd75367)
Address 0x7ffded1003f8 is located in stack of thread T0 at offset 280 in frame
#0 0x7b4da091facf in pf_matrix_unitary (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0xdacf) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
This frame has 4 object(s):
[32, 104) 'a.byval'
[144, 216) 'aa' (line 237)
[256, 280) 'eval' (line 238) <== Memory access at offset 280 overflows this variable
[320, 392) 'evec' (line 239)
HINT: this may be a false positive if your program uses some custom stack unwind mechanism, swapcontext or vfork
(longjmp and C++ exceptions *are* supported)
SUMMARY: AddressSanitizer: stack-buffer-overflow (/home/***/nav2/install/nav2_amcl/lib/libpf_lib.so+0x10498) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00) in eigen_decomposition
Shadow bytes around the buggy address:
0x10003da18020: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x10003da18030: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x10003da18040: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x10003da18050: 00 00 00 00 00 00 00 00 00 00 00 00 f1 f1 f1 f1
0x10003da18060: 00 00 00 00 00 00 00 00 00 f2 f2 f2 f2 f2 00 00
=>0x10003da18070: 00 00 00 00 00 00 00 f2 f2 f2 f2 f2 00 00 00[f2]
0x10003da18080: f2 f2 f2 f2 00 00 00 00 00 00 00 00 00 f3 f3 f3
0x10003da18090: f3 f3 f3 f3 00 00 00 00 00 00 00 00 00 00 00 00
0x10003da180a0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x10003da180b0: 00 00 00 00 00 00 00 00 f1 f1 f1 f1 00 00 00 f2
0x10003da180c0: f2 f2 f2 f2 00 00 00 00 00 00 00 00 00 f2 f2 f2
Shadow byte legend (one shadow byte represents 8 application bytes):
Addressable: 00
Partially addressable: 01 02 03 04 05 06 07
Heap left redzone: fa
Freed heap region: fd
Stack left redzone: f1
Stack mid redzone: f2
Stack right redzone: f3
Stack after return: f5
Stack use after scope: f8
Global redzone: f9
Global init order: f6
Poisoned by user: f7
Container overflow: fc
Array cookie: ac
Intra object redzone: bb
ASan internal: fe
Left alloca redzone: ca
Right alloca redzone: cb
==8261==ABORTING
Additional information
It could confirmed that the bug was caused by the value .nan of such validate message