search

flexible-collision-library / fcl

Flexible Collision Library
https://flexible-collision-library.github.io/
Other
1.39k stars 417 forks source link

Segfault in `hierarchy_tree-inl.h` #535

Closed JStech closed 3 years ago

JStech commented 3 years ago

I'm hitting a segfault at L365 of hierarchy_tree-inl.h, apparently because the condition in L356 is never met and so min_it1 and min_it2 are never initialized. This is happening within MoveIt, in collision_detection::FCLObject::registerTo.

It's definitely possible that we're feeding FCL bad inputs here, although this is happening deep enough in the MoveIt code that I'm unsure about everything. It'd be helpful if this error were caught, though, and reported with an informative error message.

JStech commented 3 years ago

We are in fact feeding in bad inputs. There are several collision objects with lots of NaNs in them (in their transforms and AABBs) that MoveIt is passing into the collision manager registerObjects function. I'll close this issue.

tylerjw commented 3 years ago

This issue looks related: https://github.com/flexible-collision-library/fcl/issues/521