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

…tioned in #4078 (#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>
ros-navigation · Apr 4, 2024 · e0759aa · e0759aa
1 parent 7397610
commit e0759aa
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
@@ -335,6 +335,7 @@ 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;