Crash after calling /depth_camera/points topic

[gzfuzz]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? source build gz-sim version: d662000273ae88e041ee30ec8d24b5e3beed6db7 built with gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04) build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce

1. gz sim a.txt -r # which is actually gz-sim/examples/worlds/optical_tactile_sensor_plugin.sdf
2. call /depth_camera/points topic, with

gz topic -t /depth_camera/points -m gz.msgs.PointCloudPacked -p 'field {
  name: "a"
  offset: 867906021
  datatype: FLOAT32
  count: 3500826499
}
height: 3176234261
width: 3922367485
point_step: 1501927945
row_step: 2001872095
data: "aj"
'

Output

Stack trace (most recent call last) in thread 132562:
#12   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#11   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbfdcb2f84f, in 
#10   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbfdca9dac2, in 
#9    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbfd87da252, in 
#8    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd643e21d, in 
#7    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd643e25d, in 
#6    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd643e2d1, in 
#5    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd643e3a3, in 
#4    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd643e43b, in 
#3    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7fbfd642de77, in 
#2    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-opticaltactileplugin-system.so", at 0x7fbf9751045c, in gz::sim::v8::systems::OpticalTactilePlugin::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
#1    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-opticaltactileplugin-system.so", at 0x7fbf975148c4, in gz::sim::v8::systems::OpticalTactilePluginPrivate::ComputeNormalForces(gz::msgs::PointCloudPacked const&, bool)
#0    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-opticaltactileplugin-system.so", at 0x7fbf97513c99, in gz::sim::v8::systems::OpticalTactilePluginPrivate::MapPointCloudData(unsigned long const&, unsigned long const&, char const*)
Segmentation fault (Invalid permissions for mapped object [0x7fbed9629ae6])