prevent collision checking segfault if octomap has NULL root pointer #2104
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v4hn
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May 23, 2020
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- Please use
static_piointer_cast, the type is ensured bygetObjectType. - Why would you return any distance here? I guess you could just check and
return false;as in the other preliminary tests above. - use
nullptror boolean check, notNULL - CI fails because your patch is incompatible with the old version of FCL. Please have a look at our compat header
I'm fine with catching this issue here, but please also file an issue in the fcl project and reference this request. Either we should never clear the root or they should fix it upstream.
added 2 commits
May 23, 2020 12:50
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Thanks for the guidance. I think I've made the modifications you described. |
Codecov Report
@@ Coverage Diff @@
## master #2104 +/- ##
==========================================
+ Coverage 54.49% 57.77% +3.28%
==========================================
Files 328 328
Lines 25661 25664 +3
==========================================
+ Hits 13983 14827 +844
+ Misses 11678 10837 -841
Continue to review full report at Codecov.
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v4hn
reviewed
May 23, 2020
| if ((o1->getObjectType() == fcl::OT_OCTREE && | ||
| !std::static_pointer_cast<const fcl::OcTreed>(o1->collisionGeometry())->getRoot()) || | ||
| (o1->getObjectType() == fcl::OT_OCTREE && | ||
| !std::static_pointer_cast<const fcl::OcTreed>(o1->collisionGeometry())->getRoot())) |
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I guess the second check should be about o2, right?
Also, please add a comment explaining that fcl::distance misbehaves for this in the version you use.
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Ah yes, I copy-pasted that and failed to change o1 to o2. Done.
v4hn
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May 24, 2020
jliukkonen
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May 26, 2020
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v4hn
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…oveit#2104) (cherry picked from commit 7aa1699)
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Description
After clearing the octomap, the root node is set to NULL, which then causes FCL to segfault in collision checking. Maybe it's actually an FCL bug, but this was the most straightforward way I found to work around it.
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