Crash after calling /model/elevator/door_0/lidar topic with empty gz.msgs.LaserScan message

[gzfuzz]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim version: 24a37be
  built with
  gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04)
  build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce

1. gz sim a.txt -r # which is actually gz-sim/examples/worlds/elevator.sdf
2. call /model/elevator/door_X with empty LaserScan message, e.g.,

gz topic -t /model/elevator/door_0/lidar -m gz.msgs.LaserScan -p ''

Output

[libprotobuf FATAL ./google/protobuf/repeated_field.h:1297] CHECK failed: (index) < (current_size_): 
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  CHECK failed: (index) < (current_size_): 
Stack trace (most recent call last) in thread 27569:
#31   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8feb232, in void std::thread::_Invoker<std::tuple<void (gz::transport::v13::NodeShared::*)(), gz::transport::v13::NodeShared*> >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>)
#30   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8feb7d2, in std::__invoke_result<void (gz::transport::v13::NodeShared::*)(), gz::transport::v13::NodeShared*>::type std::__invoke<void (gz::transport::v13::NodeShared::*)(), gz::transport::v13::NodeShared*>(void (gz::transport::v13::NodeShared::*&&)(), gz::transport::v13::NodeShared*&&)
#29   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8febcc2, in void std::__invoke_impl<void, void (gz::transport::v13::NodeShared::*)(), gz::transport::v13::NodeShared*>(std::__invoke_memfun_deref, void (gz::transport::v13::NodeShared::*&&)(), gz::transport::v13::NodeShared*&&)
#28   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8f80e20, in gz::transport::v13::NodeShared::RunReceptionTask()
#27   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8f8294a, in gz::transport::v13::NodeShared::RecvMsgUpdate()
#26   Object "/home/ren/play/robot/workspace/install/lib/libgz-transport13.so.13", at 0x732ff8f83fe6, in gz::transport::v13::NodeShared::TriggerCallbacks(gz::transport::v13::MessageInfo const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, gz::transport::v13::NodeShared::HandlerInfo const&)
#25   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbda812e9, in gz::transport::v13::SubscriptionHandler<gz::msgs::LaserScan>::RunLocalCallback(google::protobuf::Message const&, gz::transport::v13::MessageInfo const&)
#24   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbda84636, in std::function<void (gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)>::operator()(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&) const
#23   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd98a5d7, in std::_Function_handler<void (gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&), gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}>::_M_invoke(std::_Any_data const&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)
#22   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd99cbdc, in std::enable_if<is_invocable_r_v<void, gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&>, void>::type std::__invoke_r<void, gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&>(gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)
#21   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9b9435, in void std::__invoke_impl<void, gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&>(std::__invoke_other, gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}&, gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)
#20   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9682a0, in gz::transport::v13::Node::Subscribe<gz::msgs::LaserScan>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (gz::msgs::LaserScan const&)>, gz::transport::v13::SubscribeOptions const&)::{lambda(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&)#1}::operator()(gz::msgs::LaserScan const&, gz::transport::v13::MessageInfo const&) const
#19   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd977266, in std::function<void (gz::msgs::LaserScan const&)>::operator()(gz::msgs::LaserScan const&) const
#18   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd97704c, in std::_Function_handler<void (gz::msgs::LaserScan const&), std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)> >::_M_invoke(std::_Any_data const&, gz::msgs::LaserScan const&)
#17   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd98a2a3, in std::enable_if<is_invocable_r_v<void, std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>&, gz::msgs::LaserScan const&>, void>::type std::__invoke_r<void, std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>&, gz::msgs::LaserScan const&>(std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>&, gz::msgs::LaserScan const&)
#16   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd99c8fd, in void std::__invoke_impl<void, std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>&, gz::msgs::LaserScan const&>(std::__invoke_other, std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>&, gz::msgs::LaserScan const&)
#15   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9b91c9, in void std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>::operator()<gz::msgs::LaserScan const&, void>(gz::msgs::LaserScan const&)
#14   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9cdea6, in void std::_Bind<void (gz::sim::v8::systems::ElevatorPrivate::*(gz::sim::v8::systems::ElevatorPrivate*, unsigned long, std::_Placeholder<1>))(unsigned long, gz::msgs::LaserScan const&)>::__call<void, gz::msgs::LaserScan const&, 0ul, 1ul, 2ul>(std::tuple<gz::msgs::LaserScan const&>&&, std::_Index_tuple<0ul, 1ul, 2ul>)
#13   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9e22db, in std::__invoke_result<void (gz::sim::v8::systems::ElevatorPrivate::*&)(unsigned long, gz::msgs::LaserScan const&), gz::sim::v8::systems::ElevatorPrivate*&, unsigned long&, gz::msgs::LaserScan const&>::type std::__invoke<void (gz::sim::v8::systems::ElevatorPrivate::*&)(unsigned long, gz::msgs::LaserScan const&), gz::sim::v8::systems::ElevatorPrivate*&, unsigned long&, gz::msgs::LaserScan const&>(void (gz::sim::v8::systems::ElevatorPrivate::*&)(unsigned long, gz::msgs::LaserScan const&), gz::sim::v8::systems::ElevatorPrivate*&, unsigned long&, gz::msgs::LaserScan const&)
#12   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd9f4ed9, in void std::__invoke_impl<void, void (gz::sim::v8::systems::ElevatorPrivate::*&)(unsigned long, gz::msgs::LaserScan const&), gz::sim::v8::systems::ElevatorPrivate*&, unsigned long&, gz::msgs::LaserScan const&>(std::__invoke_memfun_deref, void (gz::sim::v8::systems::ElevatorPrivate::*&)(unsigned long, gz::msgs::LaserScan const&), gz::sim::v8::systems::ElevatorPrivate*&, unsigned long&, gz::msgs::LaserScan const&)
#11   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd94e002, in gz::sim::v8::systems::ElevatorPrivate::OnLidarMsg(unsigned long, gz::msgs::LaserScan const&)
#10   Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd954163, in gz::msgs::LaserScan::ranges(int) const
#9    Object "/home/ren/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-elevator-system.so", at 0x732fbd95410b, in gz::msgs::LaserScan::_internal_ranges(int) const
#8    Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x732ff6ef06d9, in google::protobuf::RepeatedField<double>::Get(int) const
#7    Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x732ff6e8d01c, in 
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x732ffecae4d7, in __cxa_throw
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x732ffecae276, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x732ffecae20b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x732ffeca2b9d, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x733002e287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x733002e42475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x733002e969fc, in pthread_kill
Aborted (Signal sent by tkill() 27565 1000)