Merge pull request ros-perception#118 from eurogroep/segfault_fix

fix(speckle_filter): Possible segfault when ranges size was smaller than filter window
milvusrobotics · Jun 21, 2021 · 5b40838 · 5b40838
2 parents 7c77be2 + 2ec5b49
commit 5b40838
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/speckle_filter.cpp b/src/speckle_filter.cpp
@@ -75,6 +75,14 @@ bool LaserScanSpeckleFilter::update(const sensor_msgs::LaserScan& input_scan, se
 {
   output_scan = input_scan;
   std::vector<bool> valid_ranges(output_scan.ranges.size(), false);
+
+  /*Check if range size is big enough to use the filter window */
+  if (output_scan.ranges.size() <= config_.filter_window + 1)
+  {
+    ROS_ERROR("Scan ranges size is too small: size = %i", output_scan.ranges.size());
+    return false;
+  }
+
   for (size_t idx = 0; idx < output_scan.ranges.size() - config_.filter_window + 1; ++idx)
   {
     bool window_valid = validator_->checkWindowValid(