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cherry-pick from main into humble to avoid UAF #4305

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May 7, 2024
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replace throw-error with error-log to avoid UAF mentioned in #4175 (#…
…4180)

* replace throw-error with error-log to avoid UAF

Signed-off-by: GoesM <GoesM@buaa.edu.cn>

* fix typo

Signed-off-by: GoesM <GoesM@buaa.edu.cn>

---------

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
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2 people authored and goes committed May 7, 2024
commit 4ff43e271522e477f96ac20a959d0a72d03e0f8c
4 changes: 2 additions & 2 deletions nav2_util/include/nav2_util/simple_action_server.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -290,8 +290,8 @@ class SimpleActionServer
info_msg("Waiting for async process to finish.");
if (steady_clock::now() - start_time >= server_timeout_) {
terminate_all();
completion_callback_();
throw std::runtime_error("Action callback is still running and missed deadline to stop");
if (completion_callback_) {completion_callback_();}
error_msg("Action callback is still running and missed deadline to stop");
}
}

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