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.

Sign up for GitHub

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

free map_sub_ before map_free(map_) to avoid UAF&&NullPtr bug mentioned in #4078 #4079

Merged
merged 2 commits into from
Jan 29, 2024
Merged

free map_sub_ before map_free(map_) to avoid UAF&&NullPtr bug mentioned in #4078 #4079

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
9834911
free `map_sub_` before `map_free(map_)`
Jan 27, 2024
f591c8b
reformat
Jan 28, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions nav2_amcl/src/amcl_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -333,6 +333,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
laser_scan_sub_.reset();

// Map
map_sub_.reset(); // map_sub_ may access map_, so it should be reset earlier
if (map_ != NULL) {
map_free(map_);
map_ = nullptr;
Expand Down
Loading