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Use new type support infrastructure #16

Merged
merged 1 commit into from
Mar 26, 2015
Merged

Use new type support infrastructure #16

merged 1 commit into from
Mar 26, 2015

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esteve
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@esteve esteve commented Mar 26, 2015

This PR updates rclcpp to use the new type support infrastructure.

@dirk-thomas @tfoote @wjwwood please review.

@esteve esteve added the in progress Actively being worked on (Kanban column) label Mar 26, 2015
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tfoote commented Mar 26, 2015

+1

@dirk-thomas
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lgtm

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wjwwood commented Mar 26, 2015

Oh, I never opened a pull request for this branch...

https://github.com/ros2/rclcpp/tree/fix_get_type_support_handle

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wjwwood commented Mar 26, 2015

These are exactly the same changes as mine, lgtm.

wjwwood added a commit that referenced this pull request Mar 26, 2015
@wjwwood
Merge pull request #16 from ros2/type-support-handle
bf61c2d 
Use new type support infrastructure
@wjwwood wjwwood merged commit bf61c2d into master Mar 26, 2015
@wjwwood wjwwood removed the in progress Actively being worked on (Kanban column) label Mar 26, 2015
@wjwwood wjwwood deleted the type-support-handle branch March 26, 2015 19:00
thomas-moulard pushed a commit to aws-ros-dev/rclcpp that referenced this pull request May 15, 2019
Stop accessing deleted parameter information
44bd87b 
When undeclaring a parameter, the current implementation
acccesses already freed memory. This commit contains the
minimal change to solve this isue.

Before this fix:

Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TestNode
[ RUN      ] TestNode.set_parameter_undeclared_parameters_not_allowed
=================================================================
==14634==ERROR: AddressSanitizer: heap-use-after-free on address 0x614000008070 at pc 0x7f90d5eb2733 bp 0x7ffc79e38d00 sp 0x7ffc79e384a8
READ of size 12 at 0x614000008070 thread T0
    #0 0x7f90d5eb2732  (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732)
    #1 0x555823664ce8 in void std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<char*>(char*, char*, std::forward_iterator_tag) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xface8)
    #2 0x7f90d57c70d3 in rclcpp::Parameter::Parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/parameter.cpp:49
    #3 0x7f90d577fbe6 in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:499
    #4 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271
    #5 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259
    #6 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694
    #7 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    #8 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#9 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#10 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#11 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#12 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#13 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#14 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#15 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#16 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#17 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#18 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)
    ros2#19 0x5558235b07d9 in _start (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x467d9)

0x614000008070 is located 48 bytes inside of 416-byte region [0x614000008040,0x6140000081e0)
freed by thread T0 here:
    #0 0x7f90d5f1a2d0 in operator delete(void*) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe12d0)
    #1 0x7f90d57abd0f in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::deallocate(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/ext/new_allocator.h:125
    #2 0x7f90d57a8908 in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::deallocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/bits/alloc_traits.h:462
    #3 0x7f90d57a133c in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_put_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:592
    #4 0x7f90d5796abd in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_drop_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:659
    #5 0x7f90d579d3d4 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_erase_aux(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:2477
    #6 0x7f90d5792213 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:1125
    #7 0x7f90d5789f68 in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x491f68)
    #8 0x7f90d577fb2a in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:497
    ros2#9 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271
    ros2#10 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259
    ros2#11 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694
    ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

previously allocated by thread T0 here:
    #0 0x7f90d5f19458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458)
    #1 0x7f90d57aceba in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::allocate(unsigned long, void const*) /usr/include/c++/7/ext/new_allocator.h:111
    #2 0x7f90d57a9c4c in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::allocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, unsigned long) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4b1c4c)
    #3 0x7f90d57a3f6e in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_get_node() (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4abf6e)
    #4 0x7f90d5799770 in std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >* std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_create_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4a1770)
    #5 0x7f90d578f382 in std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_emplace_hint_unique<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/7/bits/stl_tree.h:2398
    #6 0x7f90d5788eba in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/7/bits/stl_map.h:493
    #7 0x7f90d577bc88 in __declare_parameter_common(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::ParameterValue, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::ParameterValue> > > const&, std::function<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&)>, rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:250
    #8 0x7f90d577c4f7 in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:287
    ros2#9 0x7f90d573d1ec in rclcpp::Node::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:241
    ros2#10 0x555823645b6b in auto rclcpp::Node::declare_parameter<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xdbb6b)
    ros2#11 0x5558235e14ee in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:689
    ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

SUMMARY: AddressSanitizer: heap-use-after-free (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732)
Shadow bytes around the buggy address:
  0x0c287fff8fb0: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa
  0x0c287fff8fc0: fa fa fa fa fa fa fa fa fd fd fd fd fd fd fd fd
  0x0c287fff8fd0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff8fe0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff8ff0: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa
=>0x0c287fff9000: fa fa fa fa fa fa fa fa fd fd fd fd fd fd[fd]fd
  0x0c287fff9010: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff9020: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff9030: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa
  0x0c287fff9040: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x0c287fff9050: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
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
==14634==ABORTING

After this fix:

Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TestNode
[ RUN      ] TestNode.set_parameter_undeclared_parameters_not_allowed
[       OK ] TestNode.set_parameter_undeclared_parameters_not_allowed (51 ms)
[----------] 1 test from TestNode (51 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (51 ms total)
[  PASSED  ] 1 test.

=================================================================
==8511==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 64 byte(s) in 1 object(s) allocated from:
    #0 0x7f49af480458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458)
    #1 0x7f49aecb6b21 in rclcpp::NodeOptions::get_rcl_node_options() const ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_options.cpp:84
    #2 0x7f49aeca1e63 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:115
    #3 0x7f49aeca1a34 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:103
    #4 0x55ee8e2e4473 in void __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_no
de+0x10e473)
    #5 0x55ee8e2de58f in void std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>&, rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.C
OM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x10858f)
    #6 0x55ee8e2da516 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOp
tions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x104516)
    #7 0x55ee8e2d25b2 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, rclcpp::Node*, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::alloc
ator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xfc5b2)
    #8 0x55ee8e2c84da in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rcl
cpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xf24da)
    ros2#9 0x55ee8e2bfd60 in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AM
AZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe9d60)
    ros2#10 0x55ee8e2b6b18 in std::shared_ptr<rclcpp::Node> std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZ
ON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe0b18)
    ros2#11 0x55ee8e2ad89e in std::shared_ptr<rclcpp::Node> std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xd789e)
    ros2#12 0x55ee8e245438 in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:607
    ros2#13 0x55ee8e35d111 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#14 0x55ee8e34fb7d in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#15 0x55ee8e2fd78d in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#16 0x55ee8e2febb8 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#17 0x55ee8e2ff75c in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#18 0x55ee8e31a86d in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#19 0x55ee8e35fbb6 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#20 0x55ee8e351e46 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#21 0x55ee8e317601 in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#22 0x55ee8e2eab50 in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#23 0x55ee8e2eaa96 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#24 0x7f49adccfb96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

SUMMARY: AddressSanitizer: 64 byte(s) leaked in 1 allocation(s).

Note: after this fix, get_rcl_node_options() still leak. This is a
problem independent from this issue and will be solved independently.

Signed-off-by: Thomas Moulard <tmoulard@amazon.com>
alsora pushed a commit to alsora/rclcpp that referenced this pull request Oct 15, 2020
Merge pull request ros2#16 from alsora/asoragna/events-executor-tests
aaaa265 
more thread safety and events executor test
clalancette pushed a commit to clalancette/rclcpp that referenced this pull request Dec 21, 2021
@clalancette
Tests fix (ros2#15)
f9107d9 
* Tests fix

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

* Tests fix

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

* Fixed some tests

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

* Fix test_intra_process_manager test.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Style fixups.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* One more small fix.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Fixed issues with allocators

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

* Small fix for lint_cmake.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

Add additional tests for the TypeAdapt conversions (ros2#16)

* Implement skipping ROS conversion when using the const ref publish.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Add tests to ensure that type adaptation doesn't unnecessarily convert.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

fixed allocator allocate usage on intra process manager (ros2#17)

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

Removed TestPublisher.conversion_exception_is_passed_up test

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
nnmm pushed a commit to ApexAI/rclcpp that referenced this pull request Jul 9, 2022
@wjwwood
Merge pull request ros2#16 from ros2/fix_warnings
0fd8b01 
Fix warnings
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022
@Martin-Idel-SI @Karsten1987
Add entry point for converter plugins (ros2#47)
a2a30bd 
* ros2GH-101 Add converter interface

* ros2GH-102 Create format converter factory

* ros2GH-103 Write documentation for converter plugin authors

* ros2GH-16 Adjust rosbag2 message type

* ros2GH-16 Change name of converter interface to include "serialization"

- Easier to differentiate between storage format (e.g. sqlite)
  and serialization format (e.g. cdr)
- Closer to naming in ros middleware

* ros2GH-16 Improve plugin development documentation

- Also adapt to name changes

* ros2GH-16 Fix naming of SerializationFormatConverterFactory
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022
@gbiggs @agalbachicar @MichaelOrlov
Add play-for functionality (ros2#960)
ccafe85 
* Add play-for functionality

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Add play-for to the CLI

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Solves most of the comments from https://github.com/ros2/rosbag2/pull/960/files (ros2#14)

* Add play-for functionality

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Add play-for to the CLI

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Adds playback_duration to PlayOptions.

* Changes from PlayFor to Play srv message and changes start_offset and playback_duration.

* Restores play_for tests.

* Removes extra SubscriptionManager methods.

* Solves comment about extra sent message.

* Reorders code and comment.

* Removes the SKIP_TEST flag.

Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>
Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Second round of comments from ros2#960 upstream (ros2#15)

* Removes duration parameter. A leftover after switching to playback_duration.

* Fixes comment.

* Solves format in rosbag2_py -> _transport.cpp

* Applies style suggestions.

* Changes play() to return a boolean indicating whether the request could be fulfilled.

* Removes extra unnecessary code.

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Updates test execution time for ros2/rosbag2#960 (ros2#16)

* Adresses reviewer's comments.

* Improve test time by adding an optional argument to SubscriptionManager::spin_subscriptions()

- Reduces test_play_for execution time from 50s to 6s approximately.

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Redesign tests in test_play_for.cpp (ros2#17)

* Redesigned tests to be more deterministic and running faster
* Fixed bug in `play_for()` flow when replaying in loop or multiple
times from the same player instance.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Remove unnecessary source file from test binary

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Correct errors introduced by rebase

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* Correct play_next behaviour

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Co-authored-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com>
Co-authored-by: Michael Orlov <morlovmr@gmail.com>
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4 participants
@esteve @tfoote @dirk-thomas @wjwwood