restrction of resolution, throttle_scans and scan_buffer params to avoid illegal access of memory. #542
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* Fixed constraint between first scans for multilaser systems (#539) * restrction of resolution, throttle_scans and scan_buffer params (#542) * bumping 2.6.2 for Humble release Co-authored-by: jsongCMU <89307447+jsongCMU@users.noreply.github.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com>
| resolution_ = this->declare_parameter("resolution", resolution_); | ||
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| if (resolution_ <= 0.0) { | ||
| RCLCPP_WARN(node->get_logger(), |
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Please compile the code first before submitting PRs, this does not compile.
| throttle_scans_ = this->declare_parameter("throttle_scans", throttle_scans_); | ||
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| if (throttle_scans_ == 0) { | ||
| RCLCPP_WARN(node->get_logger(), |
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Please compile the code first before submitting PRs, this does not compile.
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Basic Info
Description of contribution in a few bullet points
resolution: if resolution < 0, when updateMap(), OccupancyGrid will have a negative width and height, which will cause overflow when processMap() since the access of new_map.data gets an index over range.
throttle_scans: must not be zero, or when scan_ctr % throttle_scans, there will be a %0 operation and lead to a mistake.
scan_buffer params: scan_buffer_size should >0 and scan_buffer_maximum_scan_distance should have a absolute value > 1e-03.
Because in AddRunningScan(), there is a operation removing all the scans when a value is larger than square(scan_buffer_maximum_scan_distance)-1e6 or the number of rest scans is larger than scan_buffer_size. If not restrict the input params, this operation will remove all the scans and still visit the scan vectors, leading to illegal access of memory.
Description of documentation updates required from your changes
I checks all the restrictions when Param settings, if check is failed, the values are set to be default values and a warning is thrown, just like some other parameters check before.
Future work that may be required in bullet points
Maybe more check for the empty vector and negative width/height.