crash with dynamic bridge

[BrannonKing]

I get a crash when running dynamic_bridge (only) with the coredx middleware. It appears to be an overrun of an array of strings. Not-so-helpful stacktrace:

Backtrace:
/lib/x86_64-linux-gnu/libc.so.6(gsignal+0x38)[0x7f79cfd58428]
/lib/x86_64-linux-gnu/libc.so.6(abort+0x16a)[0x7f79cfd5a02a]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x16d)[0x7f79d039184d]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8d6b6)[0x7f79d038f6b6]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8d701)[0x7f79d038f701]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8d919)[0x7f79d038f919]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZSt20__throw_length_errorPKc+0x3f)[0x7f79d03b826f]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x11f099)[0x7f79d0421099]
dynamic_bridge(_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_M_constructIN9__gnu_cxx17__normal_iteratorIPcS4_EEEEvT_SA_St20forward_iterator_tag+0x9e)[0x433cf0]
dynamic_bridge[0x43011c]
dynamic_bridge[0x42ae14]
dynamic_bridge(_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC1IN9__gnu_cxx17__normal_iteratorIPcS4_EEvEET_SA_RKS3_+0x52)[0x426caa]
dynamic_bridge[0x41fc08]
dynamic_bridge[0x422d9c]
dynamic_bridge[0x422c4b]
/home/asi/coredx/ros2_ws/install/lib/librclcpp.so(_ZN6rclcpp8executor8Executor13execute_timerESt10shared_ptrINS_5timer9TimerBaseEE+0x23)[0x7f79d5d9577f]
/home/asi/coredx/ros2_ws/install/lib/librclcpp.so(_ZN6rclcpp8executor8Executor22execute_any_executableESt10shared_ptrINS0_13AnyExecutableEE+0xac)[0x7f79d5d9527e]
/home/asi/coredx/ros2_ws/install/lib/librclcpp.so(_ZN6rclcpp8executor8Executor9spin_onceENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE+0xd8)[0x7f79d5d9500c]
/home/asi/coredx/ros2_ws/install/lib/librclcpp.so(_ZN6rclcpp8executor8Executor26spin_node_once_nanosecondsESt10shared_ptrINS_15node_interfaces17NodeBaseInterfaceEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE+0x84)[0x7f79d5d94a66]
dynamic_bridge[0x427b31]
dynamic_bridge[0x421359]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f79cfd43830]
dynamic_bridge[0x4194e9]

[BrannonKing]

I got a debug compilation backtrace:

Thread 1 "dynamic_bridge" received signal SIGABRT, Aborted.
0x00007fc694a5f428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
54	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  0x00007fc694a5f428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
#1  0x00007fc694a6102a in __GI_abort () at abort.c:89
#2  0x00007fc69509884d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007fc6950966b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007fc695096701 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007fc695096919 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007fc6950bf26f in std::__throw_length_error(char const*) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007fc695128099 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_create(unsigned long&, unsigned long) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#8  0x0000000000433ce0 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<__gnu_cxx::__normal_iterator<char*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > (this=0x7fffe00e3420, __beg=68 'D', __end=0 '\000') at /usr/include/c++/5/bits/basic_string.tcc:223
#9  0x000000000043010c in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct_aux<__gnu_cxx::__normal_iterator<char*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > (this=0x7fffe00e3420, __beg=68 'D', __end=0 '\000') at /usr/include/c++/5/bits/basic_string.h:195
#10 0x000000000042ae04 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<__gnu_cxx::__normal_iterator<char*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > (this=0x7fffe00e3420, __beg=68 'D', __end=0 '\000') at /usr/include/c++/5/bits/basic_string.h:214
#11 0x0000000000426c9a in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string<__gnu_cxx::__normal_iterator<char*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, void> (this=0x7fffe00e3420, __beg=68 'D', __end=0 '\000', __a=...) at /usr/include/c++/5/bits/basic_string.h:537
#12 0x000000000041fbf8 in <lambda()>::operator()(void) const (__closure=0x7dd540) at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/ros1_bridge/src/dynamic_bridge.cpp:680
#13 0x0000000000422d8c in rclcpp::timer::GenericTimer<main(int, char**)::<lambda()>, std::chrono::_V2::steady_clock, 0u>::execute_callback_delegate<main(int, char**)::<lambda()>, 0u>(void) (this=0x7dd530)
    at /home/brannon/ros2_coredx_ws/debug/core/install/include/rclcpp/timer.hpp:155
#14 0x0000000000422c3b in rclcpp::timer::GenericTimer<main(int, char**)::<lambda()>, std::chrono::_V2::steady_clock, 0u>::execute_callback(void) (this=0x7dd530)
    at /home/brannon/ros2_coredx_ws/debug/core/install/include/rclcpp/timer.hpp:142
#15 0x00007fc69aa9a7ff in rclcpp::executor::Executor::execute_timer (timer=warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rclcpp::timer::GenericTimer<main::{lambda()#2}, std::chrono::_V2::steady_clock, (void*)0>, std::allocator<void*>, (__gnu_cxx::_Lock_policy)2>'
warning: RTTI symbol not found for class 'std::_Sp_counted_ptr_inplace<rclcpp::timer::GenericTimer<main::{lambda()#2}, std::chrono::_V2::steady_clock, (void*)0>, std::allocator<void*>, (__gnu_cxx::_Lock_policy)2>'
std::shared_ptr (count 3, weak 1) 0x7dd530)
    at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/rclcpp/rclcpp/src/rclcpp/executor.cpp:302
#16 0x00007fc69aa9a2fe in rclcpp::executor::Executor::execute_any_executable (this=0x7fffe00e3a60, any_exec=std::shared_ptr (count 2, weak 0) 0x7c3cd0)
    at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/rclcpp/rclcpp/src/rclcpp/executor.cpp:234
#17 0x00007fc69aa9a08c in rclcpp::executor::Executor::spin_once (this=0x7fffe00e3a60, timeout=...) at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/rclcpp/rclcpp/src/rclcpp/executor.cpp:205
#18 0x00007fc69aa99ae6 in rclcpp::executor::Executor::spin_node_once_nanoseconds (this=0x7fffe00e3a60, node=std::shared_ptr (count 2, weak 1) 0x7c4c90, timeout=...)
    at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/rclcpp/rclcpp/src/rclcpp/executor.cpp:165
#19 0x0000000000427b21 in rclcpp::executor::Executor::spin_node_once<rclcpp::node::Node, std::ratio<1l, 1000l> > (this=0x7fffe00e3a60, node=std::shared_ptr (count 7, weak 1) 0x7befb0, timeout=...)
    at /home/brannon/ros2_coredx_ws/debug/core/install/include/rclcpp/executor.hpp:172
#20 0x0000000000421349 in main (argc=2, argv=0x7fffe00e3cd8) at /home/brannon/ros2_coredx_ws/debug/core/src/ros2/ros1_bridge/src/dynamic_bridge.cpp:749

[BrannonKing]

It appears that the dynamic_bridge assumes that response names have '::' inside them. I modified it to skip those that don't and got this output:

Unsupported publisher: DescribeParameters_Response_
Unsupported publisher: GetParameterTypes_Response_
Unsupported publisher: GetParameters_Response_
Unsupported publisher: ListParameters_Response_
Unsupported publisher: SetParameters_Response_
Unsupported publisher: SetParametersAtomically_Response_

The modification below goes inside the main method of the generated dynamic_bridge.cpp:

        if (publisher_count) {
          std::string suffix("Reply");
          auto position = it.first.rfind(suffix);
          if (position != std::string::npos && position == it.first.size() - suffix.size()) {
            std::string & t = it.second;
            std::string name(it.first.begin(), it.first.end() - suffix.size());
            if (active_ros2_services.find(name) == active_ros2_services.end()) {
              active_ros2_services[name] = std::map<std::string, std::string>();
            }
            auto colons = t.rfind("::");
            auto rspnse = t.rfind("_Response_");
            if (colons != std::string::npos && rspnse != std::string::npos) {
              std::string srv(t.begin() + colons + 2, t.begin() + rspnse);
              std::string pkg(t.begin(), t.begin() + colons);
              active_ros2_services[name]["package"] = pkg;
              active_ros2_services[name]["name"] = srv;
              active_ros2_services[name]["response_topic"] = it.first;
              active_ros2_services[name]["response_type"] = t;
            }
            else { std::cout << "Unsupported publisher: " << t << std::endl; }
          } else {
            ros2_publishers[it.first] = it.second;
          }
        }

I guess I'm not sure if this is a bug with the dynamic_bridge or if the rmw_coredx is not following some generated-topic naming standard.

[ClarkTucker]

Hmm. OK. Those strings look like they might be the 'type' of request/reply topics. In CoreDX DDS, we tend to use the 'short' typename instead of fully-qualified typename for things like this. If ROS assumes/requires a fully-qualified typename here, then this might be the issue. I'll look into it a bit further...