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fix crashes in AMCL#1152
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mikeferguson merged 6 commits intoros-planning:noetic-develfrom Nov 11, 2021
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fix #1151 about amcl crash. |
mikeferguson
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Oct 19, 2021
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Just going to wait for CI to complete, then I'll merge this |
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fix #1151 about move_base crashes.
if the LaserScan.msg is malformed, the move_base will crash.
sensor_msgs/LaserScan.msg:
std_msgs/Header header
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment #it seems the value is below zero or beyond INT_MAX, roscore will throw a runtime_error.
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities
in roscpp_core/rostime/include/ros/impl/duration.h
if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())throw std::runtime_error("Duration is out of dual 32-bit range")in roscpp_core/rostime/include/ros/impl/time.h
if (sec64 < 0 || sec64 > std::numeric_limits<uint32_t>::max())throw std::runtime_error("Time is out of dual 32-bit range");before fix:
after fix:
