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WrenchVisual::WrenchVisual Constructor Causes Segmentation Fault When Passing nullptr Without Exception Handling #1404

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zhihaoshang opened this issue Apr 12, 2025 · 1 comment
Closed

WrenchVisual::WrenchVisual Constructor Causes Segmentation Fault When Passing nullptr Without Exception Handling #1404

zhihaoshang opened this issue Apr 12, 2025 · 1 comment
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@zhihaoshang
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Operating System:

Linux shangzh-VMware-Virtual-Platform 6.11.0-21-generic #21~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Feb 24 16:52:15 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

ros2 jazzy

RMW implementation (if applicable):

No response

RMW Configuration (if applicable):

No response

Client library (if applicable):

rviz

'ros2 doctor --report' output

ros2 doc --report 
   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<LOOPBACK,UP,RUNNING>
mtu          : 65536
inet         : 192.168.148.137
inet4        : ['192.168.148.137']
ether        : 00:0c:29:be:c8:19
inet6        : ['fe80::20c:29ff:febe:c819%ens33']
netmask      : 255.255.255.0
device       : ens33
flags        : 4163<UP,BROADCAST,MULTICAST,RUNNING>
mtu          : 1500
broadcast    : 192.168.148.255

   PACKAGE VERSIONS
rqt_bag_plugins                           : latest=1.5.4, local=1.5.4
rosbag2                                   : latest=0.26.6, local=0.26.6
rosbag2_storage_default_plugins           : latest=0.26.6, local=0.26.6
rosbag2_storage_mcap                      : latest=0.26.6, local=0.26.6
rosbag2_compression_zstd                  : latest=0.26.6, local=0.26.6
mcap_vendor                               : latest=0.26.6, local=0.26.6
zstd_vendor                               : latest=0.26.6, local=0.26.6
rviz_visual_testing_framework             : latest=14.1.8, local=14.1.7
rviz2                                     : latest=14.1.8, local=14.1.7
rviz_default_plugins                      : latest=14.1.8, local=14.1.7
rviz_common                               : latest=14.1.8, local=14.1.7
rqt_bag                                   : latest=1.5.4, local=1.5.4
rosbag2_examples_py                       : latest=0.26.6, local=0.26.6
launch_testing_examples                   : latest=0.19.5, local=0.19.4
ros2bag                                   : latest=0.26.6, local=0.26.6
rosbag2_py                                : latest=0.26.6, local=0.26.6
rosbag2_transport                         : latest=0.26.6, local=0.26.6
rosbag2_storage_sqlite3                   : latest=0.26.6, local=0.26.6
rosbag2_examples_cpp                      : latest=0.26.6, local=0.26.6
rosbag2_compression                       : latest=0.26.6, local=0.26.6
rosbag2_cpp                               : latest=0.26.6, local=0.26.6
rosbag2_storage                           : latest=0.26.6, local=0.26.6
image_common                              : latest=5.1.6, local=5.1.5
camera_info_manager                       : latest=5.1.6, local=5.1.5
camera_calibration_parsers                : latest=5.1.6, local=5.1.5
yaml_cpp_vendor                           : latest=9.0.1, local=9.0.1
interactive_markers                       : latest=2.5.4, local=2.5.4
common_interfaces                         : latest=5.3.6, local=5.3.5
visualization_msgs                        : latest=5.3.6, local=5.3.5
dummy_robot_bringup                       : latest=0.33.5, local=0.33.5
robot_state_publisher                     : latest=3.3.3, local=3.3.3
kdl_parser                                : latest=2.11.0, local=2.11.0
urdf                                      : latest=2.10.0, local=2.10.0
urdf_parser_plugin                        : latest=2.10.0, local=2.10.0
turtlesim                                 : latest=1.8.3, local=1.8.3
trajectory_msgs                           : latest=5.3.6, local=5.3.5
tracetools_test                           : latest=8.2.3, local=8.2.3
tracetools_launch                         : latest=8.2.3, local=8.2.3
topic_statistics_demo                     : latest=0.33.5, local=0.33.5
topic_monitor                             : latest=0.33.5, local=0.33.5
pendulum_control                          : latest=0.33.5, local=0.33.5
tlsf_cpp                                  : latest=0.17.1, local=0.17.0
geometry2                                 : latest=0.36.9, local=0.36.8
tf2_tools                                 : latest=0.36.9, local=0.36.8
tf2_sensor_msgs                           : latest=0.36.9, local=0.36.8
test_tf2                                  : latest=N/A, local=0.36.8
tf2_kdl                                   : latest=0.36.9, local=0.36.8
tf2_geometry_msgs                         : latest=0.36.9, local=0.36.8
examples_tf2_py                           : latest=0.36.9, local=0.36.8
tf2_ros_py                                : latest=0.36.9, local=0.36.8
tf2_eigen                                 : latest=0.36.9, local=0.36.8
tf2_bullet                                : latest=0.36.9, local=0.36.8
tf2_ros                                   : latest=0.36.9, local=0.36.8
tf2_py                                    : latest=0.36.9, local=0.36.8
tf2_msgs                                  : latest=0.36.9, local=0.36.8
tf2_eigen_kdl                             : latest=0.36.9, local=0.36.8
laser_geometry                            : latest=2.7.0, local=2.7.0
tf2                                       : latest=0.36.9, local=0.36.8
test_tracetools                           : latest=N/A, local=8.2.3
rosbag2_test_common                       : latest=0.26.6, local=0.26.6
test_msgs                                 : latest=2.0.2, local=2.0.2
test_communication                        : latest=N/A, local=0.20.2
stereo_msgs                               : latest=5.3.6, local=5.3.5
std_srvs                                  : latest=5.3.6, local=5.3.5
shape_msgs                                : latest=5.3.6, local=5.3.5
examples_rclpy_pointcloud_publisher       : latest=0.19.5, local=0.19.4
sensor_msgs_py                            : latest=5.3.6, local=5.3.5
quality_of_service_demo_py                : latest=0.33.5, local=0.33.5
quality_of_service_demo_cpp               : latest=0.33.5, local=0.33.5
point_cloud_transport_py                  : latest=4.0.4, local=4.0.3
point_cloud_transport                     : latest=4.0.4, local=4.0.3
map_msgs                                  : latest=2.4.1, local=2.4.1
intra_process_demo                        : latest=0.33.5, local=0.33.5
image_transport                           : latest=5.1.6, local=5.1.5
image_tools                               : latest=0.33.5, local=0.33.5
dummy_sensors                             : latest=0.33.5, local=0.33.5
camera_info_manager_py                    : latest=5.1.6, local=5.1.5
sensor_msgs                               : latest=5.3.6, local=5.3.5
rqt_plot                                  : latest=1.4.2, local=1.4.2
ros2cli_common_extensions                 : latest=0.3.0, local=0.3.0
ros2doctor                                : latest=0.32.3, local=0.32.2
dummy_map_server                          : latest=0.33.5, local=0.33.5
nav_msgs                                  : latest=5.3.6, local=5.3.5
message_filters                           : latest=4.11.5, local=4.11.4
logging_demo                              : latest=0.33.5, local=0.33.5
lifecycle_py                              : latest=0.33.5, local=0.33.5
lifecycle                                 : latest=0.33.5, local=0.33.5
diagnostic_msgs                           : latest=5.3.6, local=5.3.5
geometry_msgs                             : latest=5.3.6, local=5.3.5
examples_rclpy_minimal_subscriber         : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_service            : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_publisher          : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_client             : latest=0.19.5, local=0.19.4
examples_rclpy_executors                  : latest=0.19.5, local=0.19.4
examples_rclcpp_wait_set                  : latest=0.19.5, local=0.19.4
examples_rclcpp_multithreaded_executor    : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_subscriber        : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_publisher         : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_composition       : latest=0.19.5, local=0.19.4
examples_rclcpp_cbg_executor              : latest=0.19.5, local=0.19.4
demo_nodes_py                             : latest=0.33.5, local=0.33.5
demo_nodes_cpp_native                     : latest=0.33.5, local=0.33.5
demo_nodes_cpp                            : latest=0.33.5, local=0.33.5
composition                               : latest=0.33.5, local=0.33.5
actionlib_msgs                            : latest=5.3.6, local=5.3.5
std_msgs                                  : latest=5.3.6, local=5.3.5
rqt                                       : latest=1.6.0, local=1.6.0
rqt_gui_cpp                               : latest=1.6.0, local=1.6.0
ros2lifecycle_test_fixtures               : latest=0.32.3, local=0.32.2
ros2component                             : latest=0.32.3, local=0.32.2
rclcpp_lifecycle                          : latest=28.1.8, local=28.1.6
action_tutorials_cpp                      : latest=0.33.5, local=0.33.5
rclcpp_components                         : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_action_server     : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_action_client     : latest=0.19.5, local=0.19.4
rclcpp_action                             : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_timer             : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_service           : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_client            : latest=0.19.5, local=0.19.4
examples_rclcpp_async_client              : latest=0.19.5, local=0.19.4
rclcpp                                    : latest=28.1.8, local=28.1.6
libstatistics_collector                   : latest=1.7.4, local=1.7.4
statistics_msgs                           : latest=2.0.2, local=2.0.2
sros2_cmake                               : latest=0.13.3, local=0.13.2
sros2                                     : latest=0.13.3, local=0.13.2
rqt_topic                                 : latest=1.7.3, local=1.7.3
rqt_srv                                   : latest=1.2.2, local=1.2.2
rqt_shell                                 : latest=1.2.2, local=1.2.2
rqt_service_caller                        : latest=1.2.1, local=1.2.1
rqt_reconfigure                           : latest=1.6.2, local=1.6.2
rqt_py_console                            : latest=1.2.2, local=1.2.2
rqt_publisher                             : latest=1.7.2, local=1.7.2
rqt_action                                : latest=2.2.0, local=2.2.0
rqt_msg                                   : latest=1.5.1, local=1.5.1
rqt_console                               : latest=2.2.1, local=2.2.1
rqt_py_common                             : latest=1.6.0, local=1.6.0
rqt_graph                                 : latest=1.5.4, local=1.5.4
rqt_gui_py                                : latest=1.6.0, local=1.6.0
rqt_gui                                   : latest=1.6.0, local=1.6.0
ros_testing                               : latest=0.6.0, local=0.6.0
ros2trace                                 : latest=8.2.3, local=8.2.3
ros2topic                                 : latest=0.32.3, local=0.32.2
ros2test                                  : latest=0.6.0, local=0.6.0
ros2param                                 : latest=0.32.3, local=0.32.2
ros2lifecycle                             : latest=0.32.3, local=0.32.2
ros2service                               : latest=0.32.3, local=0.32.2
ros2run                                   : latest=0.32.3, local=0.32.2
ros2launch                                : latest=0.26.7, local=0.26.6
ros2pkg                                   : latest=0.32.3, local=0.32.2
ros2node                                  : latest=0.32.3, local=0.32.2
ros2multicast                             : latest=0.32.3, local=0.32.2
ros2interface                             : latest=0.32.3, local=0.32.2
ros2action                                : latest=0.32.3, local=0.32.2
ros2cli                                   : latest=0.32.3, local=0.32.2
launch_testing_ros                        : latest=0.26.7, local=0.26.6
launch_ros                                : latest=0.26.7, local=0.26.6
examples_rclpy_minimal_action_server      : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_action_client      : latest=0.19.5, local=0.19.4
examples_rclpy_guard_conditions           : latest=0.19.5, local=0.19.4
action_tutorials_py                       : latest=0.33.5, local=0.33.5
rclpy                                     : latest=7.1.4, local=7.1.3
rosgraph_msgs                             : latest=2.0.2, local=2.0.2
rosbag2_interfaces                        : latest=0.26.6, local=0.26.6
ros2cli_test_interfaces                   : latest=0.32.3, local=0.32.2
rcl_lifecycle                             : latest=9.2.5, local=9.2.4
rcl_action                                : latest=9.2.5, local=9.2.4
rcl                                       : latest=9.2.5, local=9.2.4
rmw_implementation                        : latest=2.15.5, local=2.15.5
rmw_fastrtps_dynamic_cpp                  : latest=8.4.2, local=8.4.2
rmw_fastrtps_cpp                          : latest=8.4.2, local=8.4.2
rmw_fastrtps_shared_cpp                   : latest=8.4.2, local=8.4.2
rmw_cyclonedds_cpp                        : latest=2.2.3, local=2.2.3
rmw_connextddsmicro                       : latest=N/A, local=0.22.1
rmw_connextdds                            : latest=0.22.1, local=0.22.1
rmw_connextdds_common                     : latest=0.22.1, local=0.22.1
rmw_dds_common                            : latest=3.1.0, local=3.1.0
composition_interfaces                    : latest=2.0.2, local=2.0.2
rcl_interfaces                            : latest=2.0.2, local=2.0.2
pendulum_msgs                             : latest=0.33.5, local=0.33.5
lifecycle_msgs                            : latest=2.0.2, local=2.0.2
example_interfaces                        : latest=0.12.0, local=0.12.0
action_tutorials_interfaces               : latest=0.33.5, local=0.33.5
rosidl_default_runtime                    : latest=1.6.0, local=1.6.0
rosidl_default_generators                 : latest=1.6.0, local=1.6.0
action_msgs                               : latest=2.0.2, local=2.0.2
unique_identifier_msgs                    : latest=2.5.0, local=2.5.0
type_description_interfaces               : latest=2.0.2, local=2.0.2
service_msgs                              : latest=2.0.2, local=2.0.2
builtin_interfaces                        : latest=2.0.2, local=2.0.2
rosidl_core_runtime                       : latest=0.2.0, local=0.2.0
rosidl_core_generators                    : latest=0.2.0, local=0.2.0
rosidl_generator_py                       : latest=0.22.0, local=0.22.0
ament_lint_common                         : latest=0.17.2, local=0.17.1
ament_cmake_uncrustify                    : latest=0.17.2, local=0.17.1
ament_uncrustify                          : latest=0.17.2, local=0.17.1
uncrustify_vendor                         : latest=3.0.1, local=3.0.0
tracetools_trace                          : latest=8.2.3, local=8.2.3
tracetools_read                           : latest=8.2.3, local=8.2.3
tracetools                                : latest=8.2.3, local=8.2.3
tlsf                                      : latest=0.9.0, local=0.9.0
qt_gui_core                               : latest=2.7.5, local=2.7.5
qt_gui_cpp                                : latest=2.7.5, local=2.7.5
pluginlib                                 : latest=5.4.2, local=5.4.2
tinyxml2_vendor                           : latest=0.9.1, local=0.9.1
test_tracetools_launch                    : latest=N/A, local=8.2.3
test_security                             : latest=N/A, local=0.20.2
test_ros2trace                            : latest=N/A, local=8.2.3
test_rmw_implementation                   : latest=N/A, local=2.15.5
test_rclcpp                               : latest=N/A, local=0.20.2
test_quality_of_service                   : latest=N/A, local=0.20.2
test_launch_testing                       : latest=N/A, local=3.4.3
test_launch_ros                           : latest=N/A, local=0.26.6
test_interface_files                      : latest=0.11.0, local=0.11.0
test_cli_remapping                        : latest=N/A, local=0.20.2
test_cli                                  : latest=N/A, local=0.20.2
qt_gui_app                                : latest=2.7.5, local=2.7.5
qt_gui                                    : latest=2.7.5, local=2.7.5
tango_icons_vendor                        : latest=0.3.0, local=0.3.0
sqlite3_vendor                            : latest=0.26.6, local=0.26.6
rcl_logging_spdlog                        : latest=3.1.1, local=3.1.1
spdlog_vendor                             : latest=1.6.1, local=1.6.1
shared_queues_vendor                      : latest=0.26.6, local=0.26.6
rviz_rendering_tests                      : latest=14.1.8, local=14.1.7
rviz_rendering                            : latest=14.1.8, local=14.1.7
rviz_ogre_vendor                          : latest=14.1.8, local=14.1.7
rviz_assimp_vendor                        : latest=14.1.8, local=14.1.7
rttest                                    : latest=0.17.1, local=0.17.0
rti_connext_dds_cmake_module              : latest=0.22.1, local=0.22.1
lttngpy                                   : latest=8.2.3, local=8.2.3
rpyutils                                  : latest=0.4.1, local=0.4.1
rosidl_typesupport_tests                  : latest=N/A, local=3.2.2
rosidl_typesupport_introspection_tests    : latest=N/A, local=4.6.5
rosidl_typesupport_cpp                    : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_cpp      : latest=4.6.5, local=4.6.5
rosidl_typesupport_c                      : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_c        : latest=4.6.5, local=4.6.5
rosidl_typesupport_fastrtps_c             : latest=3.6.1, local=3.6.1
rosidl_typesupport_fastrtps_cpp           : latest=3.6.1, local=3.6.1
rosidl_generator_cpp                      : latest=4.6.5, local=4.6.5
rosidl_runtime_cpp                        : latest=4.6.5, local=4.6.5
rosidl_dynamic_typesupport_fastrtps       : latest=0.1.0, local=0.1.0
rcl_yaml_param_parser                     : latest=9.2.5, local=9.2.4
rmw                                       : latest=7.3.2, local=7.3.2
rosidl_dynamic_typesupport                : latest=0.1.2, local=0.1.2
rosidl_runtime_c                          : latest=4.6.5, local=4.6.5
rosidl_generator_c                        : latest=4.6.5, local=4.6.5
rosidl_typesupport_interface              : latest=4.6.5, local=4.6.5
rosidl_runtime_py                         : latest=0.13.1, local=0.13.1
rosidl_generator_dds_idl                  : latest=0.11.1, local=0.11.1
rosidl_cmake                              : latest=4.6.5, local=4.6.5
rosidl_pycommon                           : latest=4.6.5, local=4.6.5
rosidl_generator_type_description         : latest=4.6.5, local=4.6.5
rosidl_parser                             : latest=4.6.5, local=4.6.5
rosidl_generator_tests                    : latest=N/A, local=4.6.5
rosidl_adapter                            : latest=4.6.5, local=4.6.5
rosidl_cli                                : latest=4.6.5, local=4.6.5
rosbag2_tests                             : latest=0.26.6, local=0.26.6
rosbag2_test_msgdefs                      : latest=0.26.6, local=0.26.6
ros_environment                           : latest=4.2.1, local=4.2.1
rmw_implementation_cmake                  : latest=7.3.2, local=7.3.2
resource_retriever                        : latest=3.4.4, local=3.4.3
class_loader                              : latest=2.7.0, local=2.7.0
rcpputils                                 : latest=2.11.2, local=2.11.1
rcl_logging_noop                          : latest=3.1.1, local=3.1.1
rcl_logging_interface                     : latest=3.1.1, local=3.1.1
rcutils                                   : latest=6.7.2, local=6.7.2
qt_gui_py_common                          : latest=2.7.5, local=2.7.5
qt_dotgraph                               : latest=2.7.5, local=2.7.5
python_qt_binding                         : latest=2.2.1, local=2.2.1
python_orocos_kdl_vendor                  : latest=0.5.1, local=0.5.1
launch_testing_ament_cmake                : latest=3.4.4, local=3.4.3
python_cmake_module                       : latest=0.11.1, local=0.11.1
pybind11_vendor                           : latest=3.1.3, local=3.1.2
performance_test_fixture                  : latest=0.2.1, local=0.2.1
launch_pytest                             : latest=3.4.4, local=3.4.3
launch_testing                            : latest=3.4.4, local=3.4.3
launch_yaml                               : latest=3.4.4, local=3.4.3
launch_xml                                : latest=3.4.4, local=3.4.3
launch                                    : latest=3.4.4, local=3.4.3
osrf_pycommon                             : latest=2.1.6, local=2.1.5
orocos_kdl_vendor                         : latest=0.5.1, local=0.5.1
mimick_vendor                             : latest=0.6.2, local=0.6.2
libyaml_vendor                            : latest=1.6.3, local=1.6.3
liblz4_vendor                             : latest=0.26.6, local=0.26.6
libcurl_vendor                            : latest=3.4.4, local=3.4.3
keyboard_handler                          : latest=0.3.1, local=0.3.1
gz_math_vendor                            : latest=0.0.8, local=0.0.8
gz_utils_vendor                           : latest=0.0.5, local=0.0.5
gz_cmake_vendor                           : latest=0.0.9, local=0.0.9
ament_cmake_ros                           : latest=0.12.0, local=0.12.0
ament_cmake_auto                          : latest=2.5.3, local=2.5.3
ament_cmake_gmock                         : latest=2.5.3, local=2.5.3
ament_cmake_gtest                         : latest=2.5.3, local=2.5.3
ament_cmake_google_benchmark              : latest=2.5.3, local=2.5.3
fastrtps_cmake_module                     : latest=3.6.1, local=3.6.1
eigen3_cmake_module                       : latest=0.3.0, local=0.3.0
domain_coordinator                        : latest=0.12.0, local=0.12.0
console_bridge_vendor                     : latest=1.7.1, local=1.7.1
ament_cmake_xmllint                       : latest=0.17.2, local=0.17.1
ament_xmllint                             : latest=0.17.2, local=0.17.1
ament_cmake_pyflakes                      : latest=0.17.2, local=0.17.1
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   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.11.0-21-generic-x86_64-with-glibc2.39
release          : 6.11.0-21-generic
processor        : x86_64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : jazzy
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

Steps to reproduce issue

Environment

OS Version: Ubuntu 24.04
rviz version: ros2 jazzy
Compiler name and version number: Ubuntu clang version 18.1.3
Source or binary build?
source build
build options: --mixin asan-gcc

Description

During unit testing of the WrenchVisual::WrenchVisual constructor, it was found that when a nullptr is passed as an argument, the program encounters a Segmentation Fault. The issue occurs because the program fails to validate the validity of the passed argument and attempts to access a null pointer, resulting in illegal memory access.

Test Case

#include <gmock/gmock.h>
#include <memory>
#include <string>
#include <vector>
#include <OgreBillboardChain.h>
#include <OgreManualObject.h>
#include <OgreRoot.h>
#include <OgreSceneNode.h>
#include "../ogre_testing_environment.hpp"
#include "../scene_graph_introspection.hpp"
#include "rviz_rendering/objects/wrench_visual.hpp"
#include "rviz_rendering/objects/billboard_line.hpp"
#include "rviz_rendering/objects/arrow.hpp"
using namespace ::testing;  // NOLINT
MATCHER_P(Vector3Eq, expected, "") {
  return Ogre::Math::Abs(expected.x - arg.x) < 0.0001f &&
         Ogre::Math::Abs(expected.y - arg.y) < 0.0001f &&
         Ogre::Math::Abs(expected.z - arg.z) < 0.0001f;
}
class WrenchVisualTestFixture : public ::testing::Test
{
protected:
  void SetUp()
  {
    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
    testing_environment_->setUpOgreTestEnvironment();
  }
  std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
};

Ogre::SceneNode * findForceArrow(Ogre::SceneNode * scene_node)
{
  auto arrows = rviz_rendering::findAllArrows(scene_node);
  auto billboard_line = rviz_rendering::findOneBillboardChain(scene_node);
  for (const auto & arrow : arrows) {
    if (billboard_line->getParentSceneNode()->getParent() != arrow->getParent()) {
      return arrow;
    }
  }
  return nullptr;
}
TEST_F(WrenchVisualTestFixture, constructor_handles_null_pointers_gracefully) {
  Ogre::SceneManager* scene_manager = nullptr;
  Ogre::SceneNode* root_node = nullptr;

  EXPECT_THROW({
    auto wrench_visual = std::make_shared<rviz_rendering::WrenchVisual>(scene_manager, root_node);
  }, std::invalid_argument);
}

Output

Running main() from gmock_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from WrenchVisualTestFixture
[ RUN      ] WrenchVisualTestFixture.constructor_handles_null_pointers_gracefully
[rviz_rendering:debug] Available Renderers(1): OpenGL Rendering Subsystem, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:289
[rviz_rendering:info] Stereo is NOT SUPPORTED, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:531
[rviz_rendering:info] OpenGl version: 4.3 (GLSL 4.3), at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:272
AddressSanitizer:DEADLYSIGNAL
=================================================================
==222634==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x7cc7bd9c29b5 bp 0x7fff0d966eb0 sp 0x7fff0d966db0 T0)
==222634==The signal is caused by a READ memory access.
==222634==Hint: address points to the zero page.
    #0 0x7cc7bd9c29b5 in rviz_rendering::WrenchVisual::WrenchVisual(Ogre::SceneManager*, Ogre::SceneNode*) (/home/shangzh/ros2_jazzy/install/rviz_rendering/lib/librviz_rendering.so+0x3c29b5) (BuildId: cffd3d255d72a7634225ec0bbe57959441c23146)
    #1 0x626889fc0a68 in void std::_Construct<rviz_rendering::WrenchVisual, Ogre::SceneManager*&, Ogre::SceneNode*&>(rviz_rendering::WrenchVisual*, Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x2aa68) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #2 0x626889fc0255 in std::_Sp_counted_ptr_inplace<rviz_rendering::WrenchVisual, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<Ogre::SceneManager*&, Ogre::SceneNode*&>(std::allocator<void>, Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x2a255) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #3 0x626889fbfa6e in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rviz_rendering::WrenchVisual, std::allocator<void>, Ogre::SceneManager*&, Ogre::SceneNode*&>(rviz_rendering::WrenchVisual*&, std::_Sp_alloc_shared_tag<std::allocator<void> >, Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x29a6e) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #4 0x626889fbf242 in std::__shared_ptr<rviz_rendering::WrenchVisual, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<void>, Ogre::SceneManager*&, Ogre::SceneNode*&>(std::_Sp_alloc_shared_tag<std::allocator<void> >, Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x29242) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #5 0x626889fbed41 in std::shared_ptr<rviz_rendering::WrenchVisual>::shared_ptr<std::allocator<void>, Ogre::SceneManager*&, Ogre::SceneNode*&>(std::_Sp_alloc_shared_tag<std::allocator<void> >, Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x28d41) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #6 0x626889fbe0be in std::shared_ptr<std::enable_if<!std::is_array<rviz_rendering::WrenchVisual>::value, rviz_rendering::WrenchVisual>::type> std::make_shared<rviz_rendering::WrenchVisual, Ogre::SceneManager*&, Ogre::SceneNode*&>(Ogre::SceneManager*&, Ogre::SceneNode*&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x280be) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #7 0x626889fbb978 in WrenchVisualTestFixture_constructor_handles_null_pointers_gracefully_Test::TestBody() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x25978) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #8 0x62688a05ea59 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0xc8a59) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #9 0x62688a04bb65 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0xb5b65) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #10 0x626889ff128b in testing::Test::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x5b28b) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #11 0x626889ff2a67 in testing::TestInfo::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x5ca67) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #12 0x626889ff3dc0 in testing::TestSuite::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x5ddc0) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #13 0x62688a01aaeb in testing::internal::UnitTestImpl::RunAllTests() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x84aeb) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #14 0x62688a061eb4 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0xcbeb4) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #15 0x62688a04ee02 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0xb8e02) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #16 0x62688a0170f5 in testing::UnitTest::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x810f5) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #17 0x626889fc1596 in RUN_ALL_TESTS() (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x2b596) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #18 0x626889fc14e2 in main (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x2b4e2) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)
    #19 0x7cc7bb82a1c9 in __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58
    #20 0x7cc7bb82a28a in __libc_start_main_impl ../csu/libc-start.c:360
    #21 0x626889fbb2b4 in _start (/home/shangzh/ros2_jazzy/build/rviz_rendering/wrench_visual_test_target+0x252b4) (BuildId: c19f8f7aaeceb19801278f9d1158d3a8f09a938b)

AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (/home/shangzh/ros2_jazzy/install/rviz_rendering/lib/librviz_rendering.so+0x3c29b5) (BuildId: cffd3d255d72a7634225ec0bbe57959441c23146) in rviz_rendering::WrenchVisual::WrenchVisual(Ogre::SceneManager*, Ogre::SceneNode*)
==222634==ABORTING

Expected behavior

When the WrenchVisual::WrenchVisual constructor receives a nullptr as an argument, the following behavior is expected:

The function should check if the passed pointers are nullptr.

If any of the pointers are nullptr, an std::invalid_argument exception should be thrown, indicating that the input arguments are invalid.

The program should avoid encountering a segmentation fault when invalid parameters are passed.

Actual behavior

When a nullptr is passed as an argument, the WrenchVisual::WrenchVisual constructor does not properly validate the input, leading to direct access to the null pointer. This results in a Segmentation Fault and crashes the program.

Additional information

Suggested Fix

WrenchVisual::WrenchVisual(Ogre::SceneManager* scene_manager, Ogre::SceneNode* root_node) {
    if (!scene_manager || !root_node) {
        throw std::invalid_argument("Scene manager or root node is null");
    }
    // Other constructor implementation
}
@zhihaoshang zhihaoshang added the bug Something isn't working label Apr 12, 2025
@ahcorde ahcorde mentioned this issue Apr 14, 2025
Merged
@ahcorde
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ahcorde commented Apr 14, 2025

PR #1411

@ahcorde ahcorde closed this as completed Apr 14, 2025
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