Skip to content

Fix and tests for Validate Message Fields in Subscriptions for Sane & Well Populated Values #5610 #5631

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

Merged
SteveMacenski merged 2 commits into from
Oct 21, 2025
Merged

Fix and tests for Validate Message Fields in Subscriptions for Sane & Well Populated Values #5610 #5631

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8b5bcf3
Fix and tests for Validate Message Fields in Subscriptions for Sane &…
MaciejGroszyk Oct 21, 2025
069fd99
Merge branch 'ros-navigation:main' into main
MaciejGroszyk Oct 21, 2025
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
14 changes: 14 additions & 0 deletions nav2_ros_common/include/nav2_ros_common/validate_messages.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,20 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
if (msg.data.size() != msg.info.width * msg.info.height) {
return false; // check map-size
}

if (msg.info.width > INT16_MAX || msg.info.height > INT16_MAX) {
// avoid overflow in nav2_amcl::convertMap()
// because map_t size_x and size_y are int
return false;
}

uint32_t num_cells;
if (__builtin_mul_overflow(msg.info.width, msg.info.height, &num_cells)) {
// avoid overflow msg.info.width * msg.info.height in nav2_amcl::convertMap()
return false;
}


return true;
}

Expand Down
24 changes: 24 additions & 0 deletions nav2_ros_common/test/test_validation_messages.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -242,6 +242,30 @@ TEST(ValidateMessagesTest, OccupancyGridCheck) {
std::vector<int8_t> invalid_data(100 * 99, 0); // Incorrect data size
invalid_occupancy_grid.data = invalid_data;
EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));

// Test overflow uint32_t OccupancyGrid message
invalid_occupancy_grid.header.frame_id = "map";
invalid_occupancy_grid.info.resolution = 0.05;
invalid_occupancy_grid.info.width = 65536;
invalid_occupancy_grid.info.height = 65536;
invalid_occupancy_grid.data = data;
EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));

// Test overflow INT16_MAX OccupancyGrid message
invalid_occupancy_grid.header.frame_id = "map";
invalid_occupancy_grid.info.resolution = 0.05;
invalid_occupancy_grid.info.width = INT16_MAX + 1;
invalid_occupancy_grid.info.height = 100;
invalid_occupancy_grid.data = data;
EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));

// Test overflow INT16_MAX OccupancyGrid message
invalid_occupancy_grid.header.frame_id = "map";
invalid_occupancy_grid.info.resolution = 0.05;
invalid_occupancy_grid.info.width = 100;
invalid_occupancy_grid.info.height = INT16_MAX + 1;
invalid_occupancy_grid.data = data;
EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));
}

TEST(ValidateMessagesTest, PoseWithCovarianceCheck) {
Expand Down
Loading