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provide message validation check API (ros-navigation#4276)
* provide validation_message.hpp Signed-off-by: goes <GoesM@buaa.edu.cn> * fix typo Signed-off-by: goes <GoesM@buaa.edu.cn> * add test_validation_messages.cpp Signed-off-by: goes <GoesM@buaa.edu.cn> * change include-order Signed-off-by: goes <GoesM@buaa.edu.cn> * reformat Signed-off-by: goes <GoesM@buaa.edu.cn> * update test Signed-off-by: goes <GoesM@buaa.edu.cn> --------- Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn>
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‎nav2_amcl/src/amcl_node.cpp‎

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@@ -49,6 +49,7 @@
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#pragma GCC diagnostic pop
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#include "nav2_amcl/portable_utils.hpp"
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#include "nav2_util/validate_messages.hpp"
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using namespace std::placeholders;
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using rcl_interfaces::msg::ParameterType;
@@ -1390,6 +1391,10 @@ void
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AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
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{
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RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received.");
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if (!nav2_util::validateMsg(*msg)) {
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RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting.");
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return;
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}
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if (first_map_only_ && first_map_received_) {
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return;
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}

‎nav2_costmap_2d/plugins/static_layer.cpp‎

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#include "pluginlib/class_list_macros.hpp"
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#include "tf2/convert.h"
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#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
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#include "nav2_util/validate_messages.hpp"
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PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::StaticLayer, nav2_costmap_2d::Layer)
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@@ -277,6 +278,10 @@ StaticLayer::interpretValue(unsigned char value)
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void
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StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
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{
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if (!nav2_util::validateMsg(*new_map)) {
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RCLCPP_ERROR(logger_, "Received map message is malformed. Rejecting.");
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return;
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}
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if (!map_received_) {
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processMap(*new_map);
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map_received_ = true;

‎nav2_util/include/nav2_util/validate_messages.hpp‎

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// Copyright (c) 2024 GoesM
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef NAV2_UTIL__VALIDATE_MESSAGES_HPP_
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#define NAV2_UTIL__VALIDATE_MESSAGES_HPP_
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#include <cmath>
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#include <iostream>
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#include "nav_msgs/msg/occupancy_grid.hpp"
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#include "nav_msgs/msg/odometry.hpp"
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// @brief Validation Check
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// Check recieved message is safe or not for the nav2-system
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// For each msg-type known in nav2, we could check it as following:
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// if(!validateMsg()) RCLCPP_ERROR(,"malformed msg. Rejecting.")
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//
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// Workflow of validateMsg():
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// if here's a sub-msg-type in the recieved msg,
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// the content of sub-msg would be checked as sub-msg-type
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// then, check the whole recieved msg.
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//
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// Following conditions are involved in check:
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// 1> Value Check: to avoid damaged value like like `nan`, `INF`, empty string and so on
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// 2> Logic Check: to avoid value with bad logic,
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// like the size of `map` should be equal to `height*width`
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// 3> Any other needed condition could be joint here in future
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namespace nav2_util
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{
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bool validateMsg(const double & num)
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{
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/* @brief double/float value check
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* if here'a need to check message validation
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* it should be avoid to use double value like `nan`, `inf`
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* otherwise, we regard it as an invalid message
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*/
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if (std::isinf(num)) {return false;}
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if (std::isnan(num)) {return false;}
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return true;
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}
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const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond
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bool validateMsg(const builtin_interfaces::msg::Time & msg)
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{
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if (msg.nanosec >= NSEC_PER_SEC) {
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return false; // invalid nanosec-stamp
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}
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return true;
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}
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bool validateMsg(const std_msgs::msg::Header & msg)
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{
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// check sub-type
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if (!validateMsg(msg.stamp)) {return false;}
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/* @brief frame_id check
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* if here'a need to check message validation
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* it should at least have a non-empty frame_id
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* otherwise, we regard it as an invalid message
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*/
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if (msg.frame_id.empty()) {return false;}
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return true;
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}
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bool validateMsg(const geometry_msgs::msg::Point & msg)
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{
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// check sub-type
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if (!validateMsg(msg.x)) {return false;}
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if (!validateMsg(msg.y)) {return false;}
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if (!validateMsg(msg.z)) {return false;}
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return true;
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}
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const double epsilon = 1e-4;
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bool validateMsg(const geometry_msgs::msg::Quaternion & msg)
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{
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// check sub-type
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if (!validateMsg(msg.x)) {return false;}
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if (!validateMsg(msg.y)) {return false;}
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if (!validateMsg(msg.z)) {return false;}
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if (!validateMsg(msg.w)) {return false;}
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if (abs(msg.x * msg.x + msg.y * msg.y + msg.z * msg.z + msg.w * msg.w - 1.0) >= epsilon) {
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return false;
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}
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return true;
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}
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bool validateMsg(const geometry_msgs::msg::Pose & msg)
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{
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// check sub-type
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if (!validateMsg(msg.position)) {return false;}
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if (!validateMsg(msg.orientation)) {return false;}
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return true;
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}
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// Function to verify map meta information
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bool validateMsg(const nav_msgs::msg::MapMetaData & msg)
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{
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// check sub-type
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if (!validateMsg(msg.origin)) {return false;}
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if (!validateMsg(msg.resolution)) {return false;}
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// logic check
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// 1> we don't need an empty map
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if (msg.height == 0 || msg.width == 0) {return false;}
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return true;
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}
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// for msg-type like map, costmap and others as `OccupancyGrid`
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bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
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{
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// check sub-type
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if (!validateMsg(msg.header)) {return false;}
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// msg.data : @todo any check for it ?
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if (!validateMsg(msg.info)) {return false;}
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// check logic
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if (msg.data.size() != msg.info.width * msg.info.height) {
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return false; // check map-size
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}
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return true;
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}
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} // namespace nav2_util
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#endif // NAV2_UTIL__VALIDATE_MESSAGES_HPP_

‎nav2_util/test/CMakeLists.txt‎

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@@ -58,3 +58,7 @@ target_link_libraries(test_twist_publisher ${library_name})
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ament_add_gtest(test_twist_subscriber test_twist_subscriber.cpp)
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ament_target_dependencies(test_twist_subscriber rclcpp_lifecycle)
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target_link_libraries(test_twist_subscriber ${library_name})
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ament_add_gtest(test_validation_messages test_validation_messages.cpp)
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ament_target_dependencies(test_validation_messages rclcpp_lifecycle)
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target_link_libraries(test_validation_messages ${library_name})

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