96e2c6c.bug

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---
id: 96e2c6c
title: Incorrect joint position order used in trajectory generation
description: >
  Joint space trajectory generation uses the given initial and
  target joint positions in an incorrect order.
  The algorithm's input consists in, amongst other parameters, two
  instances of `sensor_msgs::JointState` class. This class contains
  an array of strings containing the joint names and another array
  containing the joint positions.
  The algorithm, which is internally used by a robot controller
  node, assumes that the initial and target joint states are
  provided in the same order, and only checks that both inputs
  contain the full set of joints for the given _group_. This is
  true in general, but under certain circumstances a different
  ordering might be used in the initial and target joint positions,
  resulting in highly unpredictable outcomes.
classification: "CWE-440: Expected Behavior Violation"
keywords: ['jointstates', 'joint ordering']
system: confidential
severity: error
links: ['http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html']
bug:
  phase: runtime
  specificity: robotics-specific
  architectural-location: application-specific code
  application: manipulator controller
  task: manipulation
  subsystem: controller
  package: core_manipulator_controller
  reactive: null
  languages:
    - C++
  detected-by: runtime crash
  reported-by: guest user
  issue: null
  time-reported: null
  reproducibility: sometimes
  trace: TBD
fix:
  commits: confidential
  pull-request: null
  fix-in: ['trajectory_generation.cpp', 'utils.h']
  languages:
    - C++
  time: 2017-02-09 (16:43)
fault-codes:
  - PROGRAMMING:COPYPASTA
  - CONFIG:PARAM
failure-codes:
  - SOFTWARE:BEHAVIORAL
  - SYSTEM:BEHAVING-INCORRECTLY