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Randomly Fuzzing Params Can Cause Server Crashes #3231
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I'm going to close the other 4 tickets since they all seem to be in the same theme - you're randomly generating parameters without knowledge of them and things aren't reacting reasonably due to that. That all falls under 1 ticket categorization (and renaming this ticket appropriately). You linked the other tickets here so they're still findable for the specific instance descriptions. Due to the nature of your experiment, I just don't have the time to guess and check one of a hundred different parameters to know what's happening. To be more principled if you're trying to help make Nav2 robust against user misconfiguration is to change 1 parameter at a time so you know which is at fault due to a particular crash. Obviously there may be situations where multiple parameters interact to cause a crash, but fixing 1 step at a time to make this problem tractable and take bite-sized pieces. Then go to fuzzing 1 node at a time so you know where its isolated to, then the full system. We also do not recommend the use of the |
Okay,I'm trying to find the actual parameters which causes these crashes. |
Bug report
Required Info:
Steps to reproduce issue
launch the following command together in processes:
and add another node to publish /goal_pose per 4s:
where, the 'fuzz' is a package of mine, it can be changed into whatever.
there are also some files specially written, I've list their contents below.
here is the mygazebo.py:
where the world_only.model is the original world model from the example in ros2_bringup.
here is myburger.sdf:
configall.yaml, is a result of our fuzzing of configs, with some parameters not sensible. However, since it's user-defined, the bugs may still happen because of wrong user behavior. The following is the configall.yaml leading to a crash:
Expected behavior
Process should not crash.
Actual behavior
the program crashed with the Asan information below:
I'll also explore the root cause of this, just report the event first.
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