Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

check params of costmap to avoid abnormal memory usage caused by user-misconfiguration mentioned in issue #4005 #4017

Merged
merged 1 commit into from
Dec 19, 2023

Conversation

GoesM
Copy link
Contributor

@GoesM GoesM commented Dec 19, 2023


Basic Info

Info Please fill out this column
Ticket(s) this addresses #4005
Primary OS tested on all
Robotic platform tested on gazebo simulation of Tally
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

As the issue #4005 showed:
If user-misconfiguration (user wrongly set the height or the width of costmap to be negative or zero) existed, the memory usage would sharply increase and even make user's equipment unable to continue working.

so I added some if condition in function Costmap2DROS::getParameters() in costmap_2d_ros to avoid such unexpected situation.

Description of documentation updates required from your changes


Future work that may be required in bullet points

I noticed that here's already some similar check in dynamicParametersCallback() :
costmap_2d_ros.cppL740-L762

It's obvious that the check needed in dynamicParametersCallback is also needed to add into getParameters() all the time,

So for clearer code, shall we create a checkParameters() function especially for check (which is being referenced by both getParameters() and dynamicParametersCallback()) ?

Copy link

codecov bot commented Dec 19, 2023

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (518b378) 90.17% compared to head (5d0d2ae) 90.40%.

Files Patch % Lines
nav2_costmap_2d/src/costmap_2d_ros.cpp 50.00% 2 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #4017      +/-   ##
==========================================
+ Coverage   90.17%   90.40%   +0.22%     
==========================================
  Files         415      415              
  Lines       18579    18583       +4     
==========================================
+ Hits        16754    16800      +46     
+ Misses       1825     1783      -42     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@SteveMacenski SteveMacenski merged commit 7872bfa into ros-navigation:main Dec 19, 2023
6 of 7 checks passed
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Jan 3, 2024
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: gg <josho.wallace@gmail.com>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
* collision_monitor: dynamic polygon and source enable/disable (#3825)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* initial

* fix

* fix

* remove unrelated change

* reset

* fix format

* PR fixes

* Add test

* fix comments

* add to params

* publish only if enabled

* Add source dynamic enable/disable

* add enabled param to sources

* fix

* add same to collision detector

* Update README.md: fix typo (#3842)

* Update package.xml

* fix typo (#3850)

* adjust link to point to v3.8 of behavior tree docs (#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix action test failure due to rate after Rolling sync API change (#3852)

* Update CMakeLists.txt (#3843)

* add option for sse4 and avs512 (#3853)

* Remove all exit(-1) crash conditions (#3846)

* Update transform_available_condition.cpp

* wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash

* some linting

* fix typo

* Update controller.cpp

* Update nav2_params.yaml

* Update nav2_params.yaml

* simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Stop error diagnostics when pausing nav (#3830)

* Added nodestate enum and a variable to keep track of current state of managed nodes.

* Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message.

* Fixing bugs.

* Updated/added docstrings.

* Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case.

* Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method.

* Bugfix.

---------

Co-authored-by: Pekka Myller <pekka.myller@karelics.fi>

* Add a timeout to the wait for transforms step of the costmap activation. (#3866)

* Add a timeout to the wait for transforms step of the costmap activation.

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

* Rename wait_for_transforms_timeout to initial_transform_timeout

* Activate costmap publishers only after transforms are checked

* Check if controller server activation was succesful in planner_server

* Add unittest for costmap activation

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

---------

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

* Fix class doxygen

* fix minor typos (#3892)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* Publish collision points for debug purposes (#3879)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* .

* fixes

* add to collision detector

* fix

* fix

* .

* fixes

* add namespace to topic

* fixes

* fix use after free (#3910)

* fix build mppi (#3927)

Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>

* Removing old TODOs

* protect invalid max_velocity min_velocity (#3953)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* protect properly max_accel and max_decel (#3952)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Fixed links for install and build in README (#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* adding support for rotate in place cusps (#3934)

* Fix linting error (#3969)

* Fix linting error

* Update regulated_pure_pursuit_controller.cpp

* fix a few outdated comments in smac planners (#3978)

* adding soft realtime prioritization for collision monitor and velocity smoother (#3979)

* adding soft realtime prioritization for collision monitor and velocity smoother

* refactor simple action server to use new utils API

* Update README.md

* Synchronize map size information during map initialization (#4015)

* Update costmap size configuration

This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated.

* Refactor costmap size assignment in Costmap2D class

The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity.

* check width&height params (#4017)

Co-authored-by: GoesM <GoesM@buaa.edu.cn>

* Fix SimpleActionServer nullprt callback (#4025)

* add check before calling completion_callback_

* Fix lint

* footprint checks (#4030)

* footprint checks

Signed-off-by: gg <josho.wallace@gmail.com>

* lint fix

Signed-off-by: gg <josho.wallace@gmail.com>

---------

Signed-off-by: gg <josho.wallace@gmail.com>

* Is path valid doc (#4032)

* docs

Signed-off-by: gg <josho.wallace@gmail.com>

* update

Signed-off-by: gg <josho.wallace@gmail.com>

---------

Signed-off-by: gg <josho.wallace@gmail.com>

* Update vision_opencv's branch for rolling

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* handle dynamically changes in parameters. (#4046)

Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com>

* Add inflation_layer_name param (#4047)

Signed-off-by: Renan Salles <renan028@gmail.com>

* missing urdf dep (#4050)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* bump to 1.2.6 for release

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Fabian König <fabiankoenig@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com>
Signed-off-by: Renan Salles <renan028@gmail.com>
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: Plaqueoff <44152820+Plaqueoff@users.noreply.github.com>
Co-authored-by: Pekka Myller <pekka.myller@karelics.fi>
Co-authored-by: Fabian König <fabiankoenig@gmail.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
Co-authored-by: Hao-Li-Bachelorarbeit <141755843+Hao-Li-Bachelorarbeit@users.noreply.github.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: Sebastian Solarte <89881453+Sunart24@users.noreply.github.com>
Co-authored-by: Renan Salles <renan028@gmail.com>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: enricosutera <enricosutera@outlook.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants