[backport Gazebo7] Fixed crash when collision size is zero (#2769)

* Fixed crash when collision size is zero Signed-off-by: ahcorde <ahcorde@gmail.com> * Using ignition::math::isnan Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved error message Signed-off-by: ahcorde <ahcorde@gmail.com> * fixed method to get the name of the visual Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed else brackets Signed-off-by: ahcorde <ahcorde@gmail.com> * [Gazebo 9] Added test to check collisions equal to zero (#2788) * Added test to check collisions equal to zero Signed-off-by: ahcorde <ahcorde@gmail.com> * Included feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * make linters happy Signed-off-by: ahcorde <ahcorde@gmail.com> * Update Visual_TEST.cc
gazebosim · Jul 28, 2020 · 9351f5c · 9351f5c
1 parent a07d57f
commit 9351f5c
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Showing 3 changed files with 127 additions and 3 deletions.
diff --git a/gazebo/rendering/Visual.cc b/gazebo/rendering/Visual.cc
@@ -793,9 +793,18 @@ void Visual::SetScale(const math::Vector3 &_scale)
 
   this->dataPtr->scale = _scale.Ign();
 
-  this->dataPtr->sceneNode->setScale(
-      Conversions::Convert(math::Vector3(this->dataPtr->scale)));
-
+  if (!ignition::math::isnan(this->dataPtr->scale.X())
+      && !ignition::math::isnan(this->dataPtr->scale.Y())
+      && !ignition::math::isnan(this->dataPtr->scale.Z()))
+  {
+    this->dataPtr->sceneNode->setScale(
+        Conversions::Convert(this->dataPtr->scale));
+  }
+  else
+  {
+    gzerr << GetName() << ": Size of the collision contains one or several zeros." <<
+      " Collisions may not visualize properly." << std::endl;
+  }
   // Scale selection object in case we have one attached. Other children were
   // scaled from UpdateGeomSize
   for (auto child : this->dataPtr->children)

diff --git a/gazebo/rendering/Visual_TEST.cc b/gazebo/rendering/Visual_TEST.cc
@@ -1514,6 +1514,42 @@ TEST_F(Visual_TEST, ConvertVisualType)
       rendering::Visual::ConvertVisualType(msgs::Visual::PHYSICS));
 }
 
+TEST_F(Visual_TEST, CollisionZero)
+{
+  // This test checks that there isn't a segmentation fault when inserting
+  // zero collision geometries.
+  // Load a world containing 3 simple shapes with collision geometry equals
+  // to zero.
+  Load("worlds/collision_zero.world");
+
+  // Get the scene
+  gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
+  ASSERT_NE(scene, nullptr);
+
+  // Wait until all models are inserted
+  int sleep = 0;
+  int maxSleep = 10;
+  rendering::VisualPtr box, sphere, cylinder;
+  while ((!box || !sphere || !cylinder) && sleep < maxSleep)
+  {
+    event::Events::preRender();
+    event::Events::render();
+    event::Events::postRender();
+
+    box = scene->GetVisual("box");
+    cylinder = scene->GetVisual("cylinder");
+    sphere = scene->GetVisual("sphere");
+    common::Time::MSleep(1000);
+    sleep++;
+  }
+  scene->ShowCollisions(true);
+  // box
+  ASSERT_NE(box, nullptr);
+  // cylinder
+  ASSERT_NE(cylinder, nullptr);
+  // sphere
+  ASSERT_NE(sphere, nullptr);
+}
 /////////////////////////////////////////////////
 TEST_F(Visual_TEST, Scale)
 {

diff --git a/worlds/collision_zero.world b/worlds/collision_zero.world
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <model name="box">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0 0 0</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>Gazebo/WoodPallet</script>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <model name="sphere">
+      <pose>0 1.5 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <sphere>
+              <radius>0</radius>
+            </sphere>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <script>Gazebo/WoodPallet</script>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <model name="cylinder">
+      <pose>0 -1.5 0.5 0 1.5707 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0</radius>
+              <length>0</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>Gazebo/WoodPallet</script>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>