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fix possible use-after-free: unsafe shared_ptr in multithread #2530

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Aug 24, 2021
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fix possible use-after-free: unsafe shared_ptr in multithread #2530

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35 changes: 19 additions & 16 deletions nav2_costmap_2d/src/costmap_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,38 +55,41 @@ std::shared_ptr<Costmap2D> CostmapSubscriber::getCostmap()

void CostmapSubscriber::toCostmap2D()
{

auto current_costmap_msg = std::atomic_load(&costmap_msg_);

if (costmap_ == nullptr) {
costmap_ = std::make_shared<Costmap2D>(
costmap_msg_->metadata.size_x, costmap_msg_->metadata.size_y,
costmap_msg_->metadata.resolution, costmap_msg_->metadata.origin.position.x,
costmap_msg_->metadata.origin.position.y);
} else if (costmap_->getSizeInCellsX() != costmap_msg_->metadata.size_x || // NOLINT
costmap_->getSizeInCellsY() != costmap_msg_->metadata.size_y ||
costmap_->getResolution() != costmap_msg_->metadata.resolution ||
costmap_->getOriginX() != costmap_msg_->metadata.origin.position.x ||
costmap_->getOriginY() != costmap_msg_->metadata.origin.position.y)
current_costmap_msg->metadata.size_x, current_costmap_msg->metadata.size_y,
current_costmap_msg->metadata.resolution, current_costmap_msg->metadata.origin.position.x,
current_costmap_msg->metadata.origin.position.y);
} else if (costmap_->getSizeInCellsX() != current_costmap_msg->metadata.size_x || // NOLINT
costmap_->getSizeInCellsY() != current_costmap_msg->metadata.size_y ||
costmap_->getResolution() != current_costmap_msg->metadata.resolution ||
costmap_->getOriginX() != current_costmap_msg->metadata.origin.position.x ||
costmap_->getOriginY() != current_costmap_msg->metadata.origin.position.y)
{
// Update the size of the costmap
costmap_->resizeMap(
costmap_msg_->metadata.size_x, costmap_msg_->metadata.size_y,
costmap_msg_->metadata.resolution,
costmap_msg_->metadata.origin.position.x,
costmap_msg_->metadata.origin.position.y);
current_costmap_msg->metadata.size_x, current_costmap_msg->metadata.size_y,
current_costmap_msg->metadata.resolution,
current_costmap_msg->metadata.origin.position.x,
current_costmap_msg->metadata.origin.position.y);
}

unsigned char * master_array = costmap_->getCharMap();
unsigned int index = 0;
for (unsigned int i = 0; i < costmap_msg_->metadata.size_x; ++i) {
for (unsigned int j = 0; j < costmap_msg_->metadata.size_y; ++j) {
master_array[index] = costmap_msg_->data[index];
for (unsigned int i = 0; i < current_costmap_msg->metadata.size_x; ++i) {
for (unsigned int j = 0; j < current_costmap_msg->metadata.size_y; ++j) {
master_array[index] = current_costmap_msg->data[index];
++index;
}
}
}

void CostmapSubscriber::costmapCallback(const nav2_msgs::msg::Costmap::SharedPtr msg)
{
costmap_msg_ = msg;
std::atomic_store(&costmap_msg_, msg);
if (!costmap_received_) {
costmap_received_ = true;
}
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