tf2_ros: lock-order-inversion, eprosima::fastrtps::rtps::Sta...

[vmayoral]

{
    "id": 509,
    "title": "tf2_ros: lock-order-inversion, eprosima::fastrtps::rtps::Sta...",
    "type": "weakness",
    "description": "Issue detected while running Google Sanitizers. ",
    "cwe": "None",
    "cve": "None",
    "keywords": [
        "components software",
        "master",
        "package: tf2_ros",
        "robot component: ROS2",
        "weakness"
    ],
    "system": "ros2",
    "vendor": "N/A",
    "severity": {
        "rvss-score": "None",
        "rvss-vector": "N/A",
        "severity-description": "",
        "cvss-score": 0,
        "cvss-vector": ""
    },
    "links": [
        "https://github.com/aliasrobotics/RVD/issues/509"
    ],
    "flaw": {
        "phase": "testing",
        "specificity": "ROS-specific",
        "architectural-location": "platform code",
        "application": "N/A",
        "subsystem": "cognition:ros2",
        "package": "tf2_ros",
        "languages": "None",
        "date-detected": "Mon, 21 Oct 2019 17:38:55 +0000",
        "detected-by": "",
        "detected-by-method": "testing dynamic",
        "date-reported": "Mon, 21 Oct 2019 17:38:55 +0000",
        "reported-by": "Alias Robotics (http://aliasrobotics.com)",
        "reported-by-relationship": "automatic",
        "issue": "https://github.com/aliasrobotics/RVD/issues/509",
        "reproducibility": "always",
        "trace": "    #0 pthread_mutex_lock <null> (libtsan.so.0+0x3fadb)\r\n    #1 __gthread_mutex_lock /usr/include/x86_64-linux-gnu/c++/7/bits/gthr-default.h:748 (libfastrtps.so.1+0x23813e)\r\n    #2 __gthread_recursive_mutex_lock /usr/include/x86_64-linux-gnu/c++/7/bits/gthr-default.h:810 (libfastrtps.so.1+0x23813e)\r\n    #3 std::recursive_timed_mutex::lock() /usr/include/c++/7/mutex:252 (libfastrtps.so.1+0x23813e)\r\n    #4 std::unique_lock<std::recursive_timed_mutex>::lock() /usr/include/c++/7/bits/std_mutex.h:267 (libfastrtps.so.1+0x23813e)\r\n    #5 std::unique_lock<std::recursive_timed_mutex>::unique_lock(std::recursive_timed_mutex&) /usr/include/c++/7/bits/std_mutex.h:197 (libfastrtps.so.1+0x23813e)\r\n    #6 eprosima::fastrtps::rtps::StatefulReader::matched_writer_remove(eprosima::fastrtps::rtps::GUID_t const&) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/reader/StatefulReader.cpp:182 (libfastrtps.so.1+0x23813e)\r\n    #7 eprosima::fastrtps::rtps::EDPSimple::removeRemoteEndpoints(eprosima::fastrtps::rtps::ParticipantProxyData*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp:821 (libfastrtps.so.1+0x5443d2)\r\n    #8 eprosima::fastrtps::rtps::PDP::remove_remote_participant(eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/participant/PDP.cpp:899 (libfastrtps.so.1+0x4f4c80)\r\n    #9 eprosima::fastrtps::rtps::PDPListener::onNewCacheChangeAdded(eprosima::fastrtps::rtps::RTPSReader*, eprosima::fastrtps::rtps::CacheChange_t const*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp:166 (libfastrtps.so.1+0x502113)\r\n    #10 eprosima::fastrtps::rtps::StatelessReader::change_received(eprosima::fastrtps::rtps::CacheChange_t*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/reader/StatelessReader.cpp:166 (libfastrtps.so.1+0x23ab61)\r\n    #11 eprosima::fastrtps::rtps::StatelessReader::processDataMsg(eprosima::fastrtps::rtps::CacheChange_t*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/reader/StatelessReader.cpp:321 (libfastrtps.so.1+0x23eb20)\r\n    #12 operator() /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/messages/MessageReceiver.cpp:638 (libfastrtps.so.1+0x276040)\r\n    #13 _M_invoke /usr/include/c++/7/bits/std_function.h:316 (libfastrtps.so.1+0x276040)\r\n    #14 std::function<void (eprosima::fastrtps::rtps::RTPSReader*)>::operator()(eprosima::fastrtps::rtps::RTPSReader*) const /usr/include/c++/7/bits/std_function.h:706 (libfastrtps.so.1+0x28ab5b)\r\n    #15 eprosima::fastrtps::rtps::MessageReceiver::findAllReaders(eprosima::fastrtps::rtps::EntityId_t const&, std::function<void (eprosima::fastrtps::rtps::RTPSReader*)>) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/messages/MessageReceiver.cpp:476 (libfastrtps.so.1+0x27e6c2)\r\n    #16 eprosima::fastrtps::rtps::MessageReceiver::proc_Submsg_Data(eprosima::fastrtps::rtps::CDRMessage_t*, eprosima::fastrtps::rtps::SubmessageHeader_t*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/messages/MessageReceiver.cpp:635 (libfastrtps.so.1+0x280659)\r\n    #17 eprosima::fastrtps::rtps::MessageReceiver::processCDRMsg(eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::CDRMessage_t*) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/messages/MessageReceiver.cpp:232 (libfastrtps.so.1+0x288b07)\r\n    #18 eprosima::fastrtps::rtps::ReceiverResource::OnDataReceived(unsigned char const*, unsigned int, eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::Locator_t const&) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/network/ReceiverResource.cpp:99 (libfastrtps.so.1+0x28ea03)\r\n    #19 eprosima::fastrtps::rtps::UDPChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) /opt/ros2_ws/src/eProsima/Fast-RTPS/src/cpp/transport/UDPChannelResource.cpp:62 (libfastrtps.so.1+0x3149c4)\r\n    #20 std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (eprosima::fastrtps::rtps::UDPChannelResource::*)(eprosima::fastrtps::rtps::Locator_t), eprosima::fastrtps::rtps::UDPChannelResource*, eprosima::fastrtps::rtps::Locator_t> > >::_M_run() <null> (libfastrtps.so.1+0x316c71)\r\n    #21 <null> <null> (libstdc++.so.6+0xbd66e)\r\n\r\n",
        "reproduction": "Find a    pre-compiled environment in the Docker image below. Reproducing it implies    source the workspace, finding the appropriate test and executing it.",
        "reproduction-image": "registry.gitlab.com/aliasrobotics/offensive/alurity/ros2/ros2:build-tsan2-commit-b2dca472a35109cece17d3e61b18af5cb9be5772"
    },
    "exploitation": {
        "description": "",
        "exploitation-image": "",
        "exploitation-vector": ""
    },
    "mitigation": {
        "description": "",
        "pull-request": ""
    }
}

[github-actions]

Feedback (automatically generated):

• FIXME: Flaw not identified as a vulnerability, weakness or exposure. Have you included # Vulnerability (or Weakness or Exposure) report at the top of the ticket?, see for more information or review other tickets to get inspiration

Please review the feedback above. Once addressed, either request the removal of the malformed label to trigger another automatic review.

[github-actions]

Feedback (automatically generated):

• FIXME: Attack vector not present in summary table or invalid, see for more information or review other tickets and get inspiration

Please review the feedback above. Once addressed, either request the removal of the malformed label to trigger another automatic review.

[vmayoral]

• DUPLICATE: Tagging this ticket as duplicate. Referencing to RVD#291: rcl: lock-order-inversion, eprosima::fastrtps::rtps::Livelin... #291