moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath unchecked read of possibly null pointer #94
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Thank you for pointing it out, but could you please create a pull-request to fix this issue?
It sounds like you already fixed it in your own setup.
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werner291
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Pull request opened. I fixed it in user code, but adding that line to the source should fix it as well. |
v4hn
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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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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.
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