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fix possible use-after-free: unsafe shared_ptr in multithread #2510

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merged 2 commits into from
Aug 19, 2021
Merged

fix possible use-after-free: unsafe shared_ptr in multithread #2510

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0f31170
fix possible use-after-free: unsafe shared_ptr in multithread
Aug 16, 2021
0821f1d
Merge branch 'main' into pr2
Aug 18, 2021
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7 changes: 4 additions & 3 deletions nav2_costmap_2d/src/footprint_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,9 +59,10 @@ FootprintSubscriber::getFootprint(
return false;
}

auto current_footprint = std::atomic_load(&footprint_);
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footprint = toPointVector(
std::make_shared<geometry_msgs::msg::Polygon>(footprint_->polygon));
auto & footprint_stamp = footprint_->header.stamp;
std::make_shared<geometry_msgs::msg::Polygon>(current_footprint->polygon));
auto & footprint_stamp = current_footprint->header.stamp;

if (stamp - footprint_stamp > valid_footprint_timeout) {
return false;
Expand Down Expand Up @@ -89,7 +90,7 @@ FootprintSubscriber::getFootprint(
void
FootprintSubscriber::footprint_callback(const geometry_msgs::msg::PolygonStamped::SharedPtr msg)
{
footprint_ = msg;
std::atomic_store(&footprint_, msg);
if (!footprint_received_) {
footprint_received_ = true;
}
Expand Down