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code style only #18

Merged
merged 6 commits into from
Apr 8, 2015
Merged

code style only #18

merged 6 commits into from
Apr 8, 2015

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dirk-thomas
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Connects to ros2/ros2#21.

@dirk-thomas dirk-thomas added the in progress Actively being worked on (Kanban column) label Apr 7, 2015
@esteve
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esteve commented Apr 7, 2015

+1

@@ -913,14 +800,14 @@ class Executor
private:
RCLCPP_DISABLE_COPY(Executor);

std::vector<std::weak_ptr<rclcpp::node::Node>> weak_nodes_;
typedef std::list<void*> SubscriberHandles;
std::vector<std::weak_ptr<rclcpp::node::Node> > weak_nodes_;
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I would not add a space here. The lack of a space here will not be a problem on any C++ compiler we will support.

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The latest version of uncrustify (0.61) introduces this configuration option for it: sp_permit_cpp11_shift

I updated the config and all PRs where necessary.

std::shared_ptr<typename ServiceT::Response>&)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr);
std::shared_ptr<typename ServiceT::Response> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
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This one also doesn't look right, I would have expected:

create_service(
    std::string service_name,
    std::function<void (const std::shared_ptr<typename ServiceT::Request> &,
        std::shared_ptr<typename ServiceT::Response>&)> callback,
    rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr);

Or...

create_service(
    std::string service_name,
    std::function<void (
        const std::shared_ptr<typename ServiceT::Request> &,
        std::shared_ptr<typename ServiceT::Response>&)> callback,
    rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr);

Regardless of what I expected, the result from the linter is pretty confusing to me, since parameters to nested items end up on the same line.

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uncrustify does not change the way the first argument is positioned. It only decides the indentation of the wrapped arguments here. We have to manually wrap the first argument in this case: 9e735e3


class CallbackGroup
{
friend class rclcpp::node::Node;
friend class rclcpp::executor::Executor;

public:
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What about the whitespace before these? I would personally prefer it to be horizontally aligned with the class keyword. I don't like having leading whitespace which is not a multiple of 2 and does not horizontally align with anything above or below it.

I would propose to have no extra space before the access modifiers.

However, that's just my opinion, what do you guys think?

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Then it looks good as-is.

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As is seems fine, with the standard spacing.

@wjwwood
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wjwwood commented Apr 7, 2015

With the class definitions styled as we discussed in the meeting, +1.

@dirk-thomas
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@wjwwood Position of colon in class initialization addressed: c6b8fb2

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tfoote commented Apr 7, 2015

lgtm

dirk-thomas added a commit that referenced this pull request Apr 8, 2015
@dirk-thomas dirk-thomas merged commit 0c0bb8a into master Apr 8, 2015
@dirk-thomas dirk-thomas removed the in progress Actively being worked on (Kanban column) label Apr 8, 2015
@dirk-thomas dirk-thomas deleted the code_style_uncrustify branch April 8, 2015 00:05
@dirk-thomas dirk-thomas self-assigned this Apr 8, 2015
thomas-moulard pushed a commit to aws-ros-dev/rclcpp that referenced this pull request May 15, 2019
When undeclaring a parameter, the current implementation
acccesses already freed memory. This commit contains the
minimal change to solve this isue.

Before this fix:

Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TestNode
[ RUN      ] TestNode.set_parameter_undeclared_parameters_not_allowed
=================================================================
==14634==ERROR: AddressSanitizer: heap-use-after-free on address 0x614000008070 at pc 0x7f90d5eb2733 bp 0x7ffc79e38d00 sp 0x7ffc79e384a8
READ of size 12 at 0x614000008070 thread T0
    #0 0x7f90d5eb2732  (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732)
    #1 0x555823664ce8 in void std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<char*>(char*, char*, std::forward_iterator_tag) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xface8)
    #2 0x7f90d57c70d3 in rclcpp::Parameter::Parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/parameter.cpp:49
    #3 0x7f90d577fbe6 in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:499
    #4 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271
    #5 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259
    #6 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694
    #7 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    #8 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#9 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#10 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#11 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#12 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#13 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#14 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#15 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#16 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#17 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#18 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)
    ros2#19 0x5558235b07d9 in _start (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x467d9)

0x614000008070 is located 48 bytes inside of 416-byte region [0x614000008040,0x6140000081e0)
freed by thread T0 here:
    #0 0x7f90d5f1a2d0 in operator delete(void*) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe12d0)
    #1 0x7f90d57abd0f in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::deallocate(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/ext/new_allocator.h:125
    #2 0x7f90d57a8908 in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::deallocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/bits/alloc_traits.h:462
    #3 0x7f90d57a133c in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_put_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:592
    #4 0x7f90d5796abd in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_drop_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:659
    #5 0x7f90d579d3d4 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_erase_aux(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:2477
    #6 0x7f90d5792213 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:1125
    #7 0x7f90d5789f68 in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x491f68)
    #8 0x7f90d577fb2a in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:497
    ros2#9 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271
    ros2#10 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259
    ros2#11 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694
    ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

previously allocated by thread T0 here:
    #0 0x7f90d5f19458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458)
    #1 0x7f90d57aceba in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::allocate(unsigned long, void const*) /usr/include/c++/7/ext/new_allocator.h:111
    #2 0x7f90d57a9c4c in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::allocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, unsigned long) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4b1c4c)
    #3 0x7f90d57a3f6e in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_get_node() (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4abf6e)
    #4 0x7f90d5799770 in std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >* std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_create_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4a1770)
    #5 0x7f90d578f382 in std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_emplace_hint_unique<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/7/bits/stl_tree.h:2398
    #6 0x7f90d5788eba in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/7/bits/stl_map.h:493
    #7 0x7f90d577bc88 in __declare_parameter_common(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::ParameterValue, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::ParameterValue> > > const&, std::function<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&)>, rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:250
    #8 0x7f90d577c4f7 in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:287
    ros2#9 0x7f90d573d1ec in rclcpp::Node::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:241
    ros2#10 0x555823645b6b in auto rclcpp::Node::declare_parameter<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xdbb6b)
    ros2#11 0x5558235e14ee in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:689
    ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

SUMMARY: AddressSanitizer: heap-use-after-free (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732)
Shadow bytes around the buggy address:
  0x0c287fff8fb0: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa
  0x0c287fff8fc0: fa fa fa fa fa fa fa fa fd fd fd fd fd fd fd fd
  0x0c287fff8fd0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff8fe0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff8ff0: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa
=>0x0c287fff9000: fa fa fa fa fa fa fa fa fd fd fd fd fd fd[fd]fd
  0x0c287fff9010: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff9020: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd
  0x0c287fff9030: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa
  0x0c287fff9040: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x0c287fff9050: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
Shadow byte legend (one shadow byte represents 8 application bytes):
  Addressable:           00
  Partially addressable: 01 02 03 04 05 06 07
  Heap left redzone:       fa
  Freed heap region:       fd
  Stack left redzone:      f1
  Stack mid redzone:       f2
  Stack right redzone:     f3
  Stack after return:      f5
  Stack use after scope:   f8
  Global redzone:          f9
  Global init order:       f6
  Poisoned by user:        f7
  Container overflow:      fc
  Array cookie:            ac
  Intra object redzone:    bb
  ASan internal:           fe
  Left alloca redzone:     ca
  Right alloca redzone:    cb
==14634==ABORTING

After this fix:

Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TestNode
[ RUN      ] TestNode.set_parameter_undeclared_parameters_not_allowed
[       OK ] TestNode.set_parameter_undeclared_parameters_not_allowed (51 ms)
[----------] 1 test from TestNode (51 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (51 ms total)
[  PASSED  ] 1 test.

=================================================================
==8511==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 64 byte(s) in 1 object(s) allocated from:
    #0 0x7f49af480458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458)
    #1 0x7f49aecb6b21 in rclcpp::NodeOptions::get_rcl_node_options() const ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_options.cpp:84
    #2 0x7f49aeca1e63 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:115
    #3 0x7f49aeca1a34 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:103
    #4 0x55ee8e2e4473 in void __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_no
de+0x10e473)
    #5 0x55ee8e2de58f in void std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>&, rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.C
OM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x10858f)
    #6 0x55ee8e2da516 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOp
tions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x104516)
    #7 0x55ee8e2d25b2 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, rclcpp::Node*, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::alloc
ator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xfc5b2)
    #8 0x55ee8e2c84da in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rcl
cpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xf24da)
    ros2#9 0x55ee8e2bfd60 in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AM
AZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe9d60)
    ros2#10 0x55ee8e2b6b18 in std::shared_ptr<rclcpp::Node> std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZ
ON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe0b18)
    ros2#11 0x55ee8e2ad89e in std::shared_ptr<rclcpp::Node> std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xd789e)
    ros2#12 0x55ee8e245438 in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:607
    ros2#13 0x55ee8e35d111 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#14 0x55ee8e34fb7d in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#15 0x55ee8e2fd78d in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522
    ros2#16 0x55ee8e2febb8 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703
    ros2#17 0x55ee8e2ff75c in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825
    ros2#18 0x55ee8e31a86d in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216
    ros2#19 0x55ee8e35fbb6 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447
    ros2#20 0x55ee8e351e46 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483
    ros2#21 0x55ee8e317601 in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824
    ros2#22 0x55ee8e2eab50 in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    ros2#23 0x55ee8e2eaa96 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    ros2#24 0x7f49adccfb96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

SUMMARY: AddressSanitizer: 64 byte(s) leaked in 1 allocation(s).

Note: after this fix, get_rcl_node_options() still leak. This is a
problem independent from this issue and will be solved independently.

Signed-off-by: Thomas Moulard <tmoulard@amazon.com>
clalancette added a commit to clalancette/rclcpp that referenced this pull request Dec 22, 2021
We just had to make sure there was a subscriber so that the conversion
would be attempted, and then things started work.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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4 participants