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moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath unchecked read of possibly null pointer #94

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werner291 opened this issue Jul 20, 2021 · 2 comments

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@werner291
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Hello,

see the line: https://github.com/ros-planning/moveit_visual_tools/blob/c166f8ee6412023b4183fc091abe6acbcdba2448/src/moveit_visual_tools.cpp#L1254

That line can segfault, because the robot_model_ may be a null pointer. This is possibly due to me using MoveIt without a source of "current" robot state information, I just want to plan hypothetical paths.

Looks like that method is missing a loadSharedRobotState();.

Calling that method from user code beforehand makes causes the segfault to disappear.

@v4hn
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v4hn commented Jul 20, 2021 via email

werner291 added a commit to werner291/moveit_visual_tools that referenced this issue Jul 20, 2021
@werner291
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werner291 commented Jul 20, 2021

Pull request opened. I fixed it in user code, but adding that line to the source should fix it as well.

v4hn added a commit that referenced this issue Aug 28, 2021
* Fixed possible nullpointer segfault

Fix for #94

* safeguard more uses

The last one forces a valid RobotState through the method API,
so we can get the RobotModel from there without loading anything else.

Co-authored-by: v4hn <me@v4hn.de>
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