free map_sub_ before map_free(map_) to avoid UAF&&NullPtr bug men…

…tioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: enricosutera <enricosutera@outlook.com>
enricosutera · May 19, 2024 · 3728794 · 3728794
1 parent 0805191
commit 3728794
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -333,6 +333,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   laser_scan_sub_.reset();
 
   // Map
+  map_sub_.reset();  //  map_sub_ may access map_, so it should be reset earlier
   if (map_ != NULL) {
     map_free(map_);
     map_ = nullptr;