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Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. #3276

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merged 3 commits into from
Nov 10, 2022
Merged

Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. #3276

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8c31329
Update amcl_node.cpp
Cryst4L9527 Nov 9, 2022
dfaf4e3
fit the code style
Cryst4L9527 Nov 10, 2022
0f1c613
fit code style
Cryst4L9527 Nov 10, 2022
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9 changes: 9 additions & 0 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -808,6 +808,15 @@ bool AmclNode::updateFilter(
get_logger(), "Laser %d angles in base frame: min: %.3f inc: %.3f", laser_index, angle_min,
angle_increment);

// Check the validity of range_max, must > 0.0
if (laser_scan->range_max <= 0.0) {
RCLCPP_WARN(
get_logger(), "wrong range_max of laser_scan data: %f. The message could be malformed."
" Ignore this message and stop updating.",
laser_scan->range_max);
return false;
}

// Apply range min/max thresholds, if the user supplied them
if (laser_max_range_ > 0.0) {
ldata.range_max = std::min(laser_scan->range_max, static_cast<float>(laser_max_range_));
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