some special msg onto /initialpose could lead to heap-buffer-overflow bug #4307
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: 834647291
sec: 1707737088
pose:
covariance:
- 0.25
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.25
- 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
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.06853891909122467
pose:
orientation:
w: 0.0
x: 0.0
y: 0.0
z: 1.0
position:
x: -751613824.000000
y: 0.37812575697898865
z: 0.0" -1[notice] the value of x of the position is -751613824.000000, which leads to the heap-buffer-overflow.
Expected behavior
Actual behavior
The ASAN reporting a stack-buffer-overflow bug to me as following, and the nav2_amcl stop its work.
=================================================================
==424016==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x76a4a2e36758 at pc 0x76a4abfe3c61 bp 0x7ffcfd208690 sp 0x7ffcfd208688
READ of size 8 at 0x76a4a2e36758 thread T0
#0 0x76a4abfe3c60 in pf_cluster_stats (/home/***/nav2_humble/install/nav2_amcl/lib/libpf_lib.so+0x7c60) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#1 0x76a4abfe21f5 in pf_init (/home/***/nav2_humble/install/nav2_amcl/lib/libpf_lib.so+0x61f5) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#2 0x76a4ac546df2 in nav2_amcl::AmclNode::handleInitialPose(geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >&) (/home/***/nav2_humble/install/nav2_amcl/lib/libamcl_core.so+0x346df2) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#3 0x76a4ac5446c6 in nav2_amcl::AmclNode::initialPoseReceived(std::shared_ptr<geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> > >) (/home/***/nav2_humble/install/nav2_amcl/lib/libamcl_core.so+0x3446c6) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#4 0x76a4ac726d57 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_humble/install/nav2_amcl/lib/libamcl_core.so+0x526d57) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#5 0x76a4ac7561cb 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_humble/install/nav2_amcl/lib/libamcl_core.so+0x5561cb) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#6 0x76a4ac753061 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_humble/install/nav2_amcl/lib/libamcl_core.so+0x553061) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#7 0x76a4ac72fc34 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_humble/install/nav2_amcl/lib/libamcl_core.so+0x52fc34) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#8 0x76a4ad6257bb in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (/opt/ros/humble/lib/librclcpp.so+0xe77bb) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#9 0x76a4ad625fbe in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) (/opt/ros/humble/lib/librclcpp.so+0xe7fbe) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#10 0x76a4ad62d8af in rclcpp::executors::SingleThreadedExecutor::spin() (/opt/ros/humble/lib/librclcpp.so+0xef8af) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#11 0x76a4ad62dac4 in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>) (/opt/ros/humble/lib/librclcpp.so+0xefac4) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
#12 0x64f0866154cd in main (/home/***/nav2_humble/install/nav2_amcl/lib/nav2_amcl/amcl+0xe84cd) (BuildId: 6374af6c6a02284720c5116aa2ef067ebdd75367)
#13 0x76a4ab829d8f in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
#14 0x76a4ab829e3f in __libc_start_main csu/../csu/libc-start.c:392:3
#15 0x64f0865545e4 in _start (/home/***/nav2_humble/install/nav2_amcl/lib/nav2_amcl/amcl+0x275e4) (BuildId: 6374af6c6a02284720c5116aa2ef067ebdd75367)
0x76a4a2e36758 is located 168 bytes to the left of 352000-byte region [0x76a4a2e36800,0x76a4a2e8c700)
allocated by thread T0 here:
#0 0x64f0865d7618 in __interceptor_calloc (/home/***/nav2_humble/install/nav2_amcl/lib/nav2_amcl/amcl+0xaa618) (BuildId: 6374af6c6a02284720c5116aa2ef067ebdd75367)
#1 0x76a4abfe1759 in pf_alloc (/home/***/nav2_humble/install/nav2_amcl/lib/libpf_lib.so+0x5759) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00)
#2 0x76a4ac532d69 in nav2_amcl::AmclNode::on_configure(rclcpp_lifecycle::State const&) (/home/***/nav2_humble/install/nav2_amcl/lib/libamcl_core.so+0x332d69) (BuildId: ef8b35bb0836c058bcbcd5d12c39479c3c6c37be)
#3 0x76a4ad523b8c (/opt/ros/humble/lib/librclcpp_lifecycle.so+0x28b8c) (BuildId: e9b8e454bf87aaab775667b79aefcab12c018de9)
SUMMARY: AddressSanitizer: heap-buffer-overflow (/home/***/nav2_humble/install/nav2_amcl/lib/libpf_lib.so+0x7c60) (BuildId: 92f6f6da07c69e4e8fdb674a2fb2b39a58de9a00) in pf_cluster_stats
Shadow bytes around the buggy address:
0x0ed5145bec90: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
0x0ed5145beca0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
0x0ed5145becb0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
0x0ed5145becc0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
0x0ed5145becd0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
=>0x0ed5145bece0: fa fa fa fa fa fa fa fa fa fa fa[fa]fa fa fa fa
0x0ed5145becf0: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
0x0ed5145bed00: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x0ed5145bed10: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x0ed5145bed20: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0x0ed5145bed30: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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
==424016==ABORTING
Additional information
it seems like that a high value of x could lead to such bug...