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ROS 2 Navigation Framework and System
https://nav2.org/
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Randomly Fuzzing Params Can Cause Server Crashes #3231

Closed Cryst4L9527 closed 2 years ago

Cryst4L9527 commented 2 years ago

Bug report

Required Info:

Steps to reproduce issue

launch the following command together in processes:

ros2 launch fuzz mygazebo.py 
ros2 run nav2_controller controller_server  --ros-args --params-fole configall.yaml -r __node:=controller_server
ros2 run nav2_planner planner_server  --ros-args --params-fole configall.yaml -r __node:=planner_server
ros2 run nav2_recoveries recoveries_server  --ros-args --params-fole configall.yaml -r __node:=recoveries_server
ros2 run nav2_bt_navigator bt_navigator  --ros-args --params-fole configall.yaml -r __node:=bt_navigator
ros2 run nav2_waypoint_follower waypoint_follower --ros-args --params-fole configall.yaml -r __node:=waypoint_follower
ros2 run nav2_lifecycle_manager lifecycle_manager  --ros-args --params-fole configall.yaml -r __node:=lifecycle_manager_navigation
ros2 run nav2_map_server map_server  --ros-args --params-fole configall.yaml -r __node:=map_server
ros2 run nav2_amcl amcl  --ros-args --params-fole configall.yaml -r __node:=amcl
ros2 run nav2_lifecycle_manager lifecycle_manager  --ros-args --params-fole configall.yaml -r __node:=lifecycle_manager_localization

and add another node to publish /goal_pose per 4s:

        self.goal_pub = self.node.create_publisher(geometry_msgs.msg.PoseStamped, '/goal_pose', 10)
        …
def _publish_goal(self, px=2.0, py=0.5, oz=1.0):
        msg = geometry_msgs.msg.PoseStamped()
        msg.header.frame_id = 'map'
        msg.pose.position.x = float(px)
        msg.pose.position.y = float(py)
        msg.pose.orientation.z = float(oz)
        print('[!] change_goal:'+str(px)+" "+str(py)+" "+str(oz)+" ")
        self.goal_pub.publish(msg)

4s: px = -2.0 py = 0.5 oz = 1.0
8s: px = 0.0 py = 0.5 oz = 1.0
12s: px = 2.0 py = 0.5 oz = 1.0
12s-30s: no new goals
30s: stop program.

where, the 'fuzz' is a package of mine, it can be changed into whatever. there are also some files specially written, I've list their contents below. here is the mygazebo.py:

#!/usr/bin/env python3
import launch
import launch_ros
import ament_index_python.packages
import os
#import launch.actions

def generate_launch_description():

    env = {
        'GAZEBO_MODEL_PATH': '/opt/ros/foxy/share/turtlebot3_gazebo/models',
        #'GAZEBO_PLUGIN_PATH': plugin,
        #'GAZEBO_RESOURCE_PATH': media
    }
    #os.path.join(ament_index_python.packages.get_package_share_directory('fuzz'), 'launch')

    cmd = [
        'gzserver', 
        '/home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/world_only.model',
        '-s', 'libgazebo_ros_init.so',
        '-s', 'libgazebo_ros_factory.so',
        '-s', 'libgazebo_ros_force_system.so']
    return launch.LaunchDescription([

        launch.actions.ExecuteProcess(
            cmd=cmd,
            output='screen',
            additional_env=env
            ),

        launch_ros.actions.Node(
            package='gazebo_ros', 
            executable='spawn_entity.py', 
            arguments=[
                '-entity',
                'burger',
                '-file',
                '/home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/myburger.sdf',
                '-x',
                '-2.0',
                '-y',
                '-0.5'
            ]),

        launch_ros.actions.Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            name='robot_state_publisher',
            output='screen',
            parameters=[{'use_sim_time': True}],
            arguments=['/opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf']),
    ])

where the world_only.model is the original world model from the example in ros2_bringup. here is myburger.sdf:

<sdf version="1.5">
  <model name="turtlebot3_burger">
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>

    <link name="base_footprint" />

    <link name="base_link">

      <inertial>
        <pose>-0.032 0 0.070 0 0 0</pose>
        <inertia>
          <ixx>7.2397393e-01</ixx>
          <ixy>4.686399e-10</ixy>
          <ixz>-1.09525703e-08</ixz>
          <iyy>7.2397393e-01</iyy>
          <iyz>2.8582649e-09</iyz>
          <izz>6.53050163e-01</izz>
        </inertia>
        <mass>8.2573504e-01</mass>
      </inertial>

      <collision name="base_collision">
        <pose>-0.032 0 0.070 0 0 0</pose>
        <geometry>
          <box>
            <size>0.140 0.140 0.140</size>
          </box>
        </geometry>
      </collision>

      <visual name="base_visual">
        <pose>-0.032 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="imu_link">
      <sensor name="tb3_imu" type="imu">
        <always_on>true</always_on>
        <update_rate>200</update_rate>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
          <ros>

            <remapping>~/out:=imu</remapping>
          </ros>
        </plugin>
      </sensor>
    </link>

    <link name="base_scan">
      <inertial>
        <pose>-0.020 0 0.161 0 0 0</pose>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.001</iyy>
          <iyz>0.000</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.114</mass>
      </inertial>

      <collision name="lidar_sensor_collision">
        <pose>-0.020 0 0.161 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0508</radius>
            <length>0.055</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="lidar_sensor_visual">
        <pose>-0.032 0 0.171 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://turtlebot3_burger/meshes/lds.dae</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
      </visual>

      <sensor name="hls_lfcd_lds" type="ray">
        <always_on>true</always_on>
        <visualize>true</visualize>
        <pose>-0.032 0 0.171 0 0 0</pose>
        <update_rate>5</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1.000000</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>3.5</max>
            <resolution>0.015000</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </ray>
        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
          <ros>

            <remapping>~/out:=scan_proxyme</remapping>
          </ros>
          <output_type>sensor_msgs/LaserScan</output_type>
          <frame_name>base_scan</frame_name>
        </plugin>
      </sensor>
    </link>

    <link name="wheel_left_link">

      <inertial>
        <pose>0 0.08 0.023 -1.57 0 0</pose>
        <inertia>
          <ixx>1.8158194e-03</ixx>
          <ixy>-9.3392e-12</ixy>
          <ixz>1.04909e-11</ixz>
          <iyy>3.2922126e-03</iyy>
          <iyz>5.75694e-11</iyz>
          <izz>1.8158194e-03</izz>
        </inertia>
        <mass>2.8498940e-02</mass>
      </inertial>

      <collision name="wheel_left_collision">
        <pose>0 0.08 0.023 -1.57 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.033</radius>
            <length>0.018</length>
          </cylinder>
        </geometry>
        <surface>

          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>

      <visual name="wheel_left_visual">
        <pose>0 0.08 0.023 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://turtlebot3_burger/meshes/tire.dae</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="wheel_right_link">

      <inertial>
        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
        <inertia>
          <ixx>1.8158194e-03</ixx>
          <ixy>-9.3392e-12</ixy>
          <ixz>1.04909e-11</ixz>
          <iyy>3.2922126e-03</iyy>
          <iyz>5.75694e-11</iyz>
          <izz>1.8158194e-03</izz>
        </inertia>
        <mass>2.8498940e-02</mass>
      </inertial>

      <collision name="wheel_right_collision">
        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.033</radius>
            <length>0.018</length>
          </cylinder>
        </geometry>
        <surface>

          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>

      <visual name="wheel_right_visual">
        <pose>0.0 -0.08 0.023 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://turtlebot3_burger/meshes/tire.dae</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="caster_back_link">
      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
      <inertial>
        <mass>0.005</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.001</iyy>
          <iyz>0.000</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.005000</radius>
          </sphere>
        </geometry>
        <surface>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>

    <joint name="base_joint" type="fixed">
      <parent>base_footprint</parent>
      <child>base_link</child>
      <pose>0.0 0.0 0.010 0 0 0</pose>
    </joint>

    <joint name="wheel_left_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_left_link</child>
      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <joint name="wheel_right_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_right_link</child>
      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <joint name="caster_back_joint" type="ball">
      <parent>base_link</parent>
      <child>caster_back_link</child>
    </joint>

    <joint name="imu_joint" type="fixed">
      <parent>base_link</parent>
      <child>imu_link</child>
      <pose>-0.032 0 0.068 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <joint name="lidar_joint" type="fixed">
      <parent>base_link</parent>
      <child>base_scan</child>
      <pose>-0.032 0 0.171 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">

      <ros>

        <remapping>odom:=odom</remapping>
      </ros>

      <update_rate>30</update_rate>

      <left_joint>wheel_left_joint</left_joint>
      <right_joint>wheel_right_joint</right_joint>

      <wheel_separation>0.160</wheel_separation>
      <wheel_diameter>0.066</wheel_diameter>

      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>

      <command_topic>cmd_vel</command_topic>

      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>false</publish_wheel_tf>

      <odometry_topic>odom</odometry_topic>
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>base_footprint</robot_base_frame>

    </plugin>

    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
      <ros>

        <remapping>~/out:=joint_states</remapping>
      </ros>
      <update_rate>30</update_rate>
      <joint_name>wheel_left_joint</joint_name>
      <joint_name>wheel_right_joint</joint_name>
    </plugin>      
  </model>
</sdf>

configall.yaml, is a result of our fuzzing of configs, with some parameters not sensible. However, since it's user-defined, the bugs may still happen because of wrong user behavior. The following is the configall.yaml leading to a crash:

/loc2d_ros:
  ros__parameters:
    base_frame_id: base_footprint
    d_thresh: 0.02
    global_frame_id: map
    initial_pos_a: 0.0
    initial_pos_x: -2.0
    initial_pos_y: -0.5
    odom_frame_id: odom
    scan_topic: /scan
    transform_tolerance: 0.2
    use_sim_time: true
amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: base_footprint
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 2.6
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: map
    initial_pose:
      x: -2.0
      y: -0.5
      yaw: 0.0
      z: 0.0
    lambda_short: 1.7000000000000002
    laser_likelihood_max_dist: 6.1000000000000005
    laser_max_range: 98.7
    laser_min_range: -0.29999999999999993
    laser_model_type: likelihood_field
    max_beams: 60
    max_particles: 2100
    min_particles: 500
    odom_frame_id: odom
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: -2.6
    recovery_alpha_slow: 2.0
    resample_interval: 128
    robot_model_type: differential
    save_pose_rate: -0.6000000000000001
    set_initial_pose: true
    sigma_hit: -1.8
    tf_broadcast: true
    transform_tolerance: 6.5
    update_min_a: -10.000000000000002
    update_min_d: 1.85
    use_sim_time: true
    z_hit: 9.8
    z_max: 0.05
    z_rand: 0.5
    z_short: -0.05
amcl_map_client:
  ros__parameters:
    use_sim_time: true
amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: true
bt_navigator:
  ros__parameters:
    default_bt_xml_filename: /home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/navigate_w_replanning_and_recovery.xml
    global_frame: map
    odom_topic: /odom
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node
    robot_base_frame: base_link
    use_sim_time: true
bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: true
cartographer_node:
  ros__parameters:
    use_sim_time: true
controller_server:
  ros__parameters:
    FollowPath:
      BaseObstacle.scale: -1.08
      GoalAlign.forward_point_distance: 0.6
      GoalAlign.scale: 24.0
      GoalDist.scale: 24.1
      PathAlign.forward_point_distance: 0.1
      PathAlign.scale: 35.2
      PathDist.scale: 31.9
      RotateToGoal.lookahead_time: -1.0
      RotateToGoal.scale: 29.6
      RotateToGoal.slowing_factor: -0.8000000000000007
      acc_lim_theta: -1.0999999999999996
      acc_lim_x: 15.200000000000001
      acc_lim_y: -0.1
      angular_granularity: 2.4250000000000003
      critics:
      - RotateToGoal
      - Oscillation
      - BaseObstacle
      - GoalAlign
      - PathAlign
      - PathDist
      - GoalDist
      debug_trajectory_details: true
      decel_lim_theta: -3.4000000000000004
      decel_lim_x: -2.6
      decel_lim_y: -0.5
      linear_granularity: -12.75
      max_speed_xy: 0.22
      max_vel_theta: -11.8
      max_vel_x: 0.22
      max_vel_y: 0.0
      min_speed_theta: 0.0
      min_speed_xy: 1.6
      min_vel_x: 10.0
      min_vel_y: -1.6
      plugin: dwb_core::DWBLocalPlanner
      short_circuit_trajectory_evaluation: true
      sim_time: 1.7
      stateful: true
      trans_stopped_velocity: 0.25
      transform_tolerance: 0.2
      vtheta_samples: 1
      vx_samples: 10
      vy_samples: 5
      xy_goal_tolerance: -1.9500000000000002
    controller_frequency: 32.6
    controller_plugins:
    - FollowPath
    min_theta_velocity_threshold: -0.399
    min_x_velocity_threshold: 3.201
    min_y_velocity_threshold: 0.4
    use_sim_time: true
controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: true
ekf_localization:
  ros__parameters:
    gnss_pose_topic: gnss_pose
    imu_topic: imu
    odom_topic: odom
    pub_period: -118
    reference_frame_id: map
    robot_frame_id: base_link
    use_gnss: false
    use_odom: true
    var_gnss: 0.6
    var_imu_acc: 0.11
    var_imu_w: -10.99
    var_odom: -6.1000000000000005
global_costmap:
  global_costmap:
    ros__parameters:
      always_send_full_costmap: true
      global_frame: map
      inflation_layer:
        cost_scaling_factor: 7.300000000000001
        inflation_radius: -2.1500000000000004
        plugin: nav2_costmap_2d::InflationLayer
      obstacle_layer:
        enabled: true
        observation_sources: scan
        plugin: nav2_costmap_2d::ObstacleLayer
        scan:
          clearing: true
          data_type: LaserScan
          marking: true
          max_obstacle_height: 2.0
          topic: /scan
      plugins:
      - static_layer
      - obstacle_layer
      - voxel_layer
      - inflation_layer
      publish_frequency: 10.5
      resolution: -0.05
      robot_base_frame: base_link
      robot_radius: 0.0
      static_layer:
        map_subscribe_transient_local: true
        plugin: nav2_costmap_2d::StaticLayer
      update_frequency: 0.9
      use_sim_time: true
      voxel_layer:
        enabled: true
        mark_threshold: -10
        max_obstacle_height: 2.0
        observation_sources: pointcloud
        origin_z: 0.0
        plugin: nav2_costmap_2d::VoxelLayer
        pointcloud:
          clearing: true
          data_type: PointCloud2
          marking: true
          max_obstacle_height: 2.0
          topic: /intel_realsense_r200_depth/points
        publish_voxel_map: true
        z_resolution: 0.6500000000000001
        z_voxels: 16
  global_costmap_client:
    ros__parameters:
      use_sim_time: true
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: true
lifecycle_manager_localization:
  ros__parameters:
    autostart: true
    node_names:
    - map_server
    - amcl
    use_sim_time: true
lifecycle_manager_mapserver:
  ros__parameters:
    autostart: true
    node_names:
    - map_server
    use_sim_time: true
lifecycle_manager_navigation:
  ros__parameters:
    autostart: true
    node_names:
    - controller_server
    - planner_server
    - recoveries_server
    - bt_navigator
    - waypoint_follower
    use_sim_time: true
local_costmap:
  local_costmap:
    ros__parameters:
      always_send_full_costmap: true
      global_frame: odom
      height: -23
      inflation_layer:
        cost_scaling_factor: 10.600000000000001
        plugin: nav2_costmap_2d::InflationLayer
      obstacle_layer:
        enabled: true
        observation_sources: scan
        plugin: nav2_costmap_2d::ObstacleLayer
        scan:
          clearing: true
          data_type: LaserScan
          marking: true
          max_obstacle_height: 14.700000000000001
          topic: /scan
      plugins:
      - obstacle_layer
      - voxel_layer
      - inflation_layer
      publish_frequency: 2.0
      resolution: 7.95
      robot_base_frame: base_link
      robot_radius: -12.500000000000002
      rolling_window: true
      static_layer:
        map_subscribe_transient_local: false
      update_frequency: 11.4
      use_sim_time: true
      voxel_layer:
        enabled: true
        mark_threshold: 0
        max_obstacle_height: 2.0
        observation_sources: pointcloud
        origin_z: 3.8000000000000003
        plugin: nav2_costmap_2d::VoxelLayer
        pointcloud:
          clearing: true
          data_type: PointCloud2
          marking: true
          max_obstacle_height: 2.0
          topic: /intel_realsense_r200_depth/points
        publish_voxel_map: true
        z_resolution: 0.05
        z_voxels: 16
      width: -125
  local_costmap_client:
    ros__parameters:
      use_sim_time: true
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: true
map_saver:
  ros__parameters:
    free_thresh_default: -4.65
    occupied_thresh_default: -1.15
    save_map_timeout: 4998
    use_sim_time: true
map_server:
  ros__parameters:
    use_sim_time: true
    yaml_filename: /home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/turtlebot3_world.yaml
occupancy_grid_node:
  ros__parameters:
    use_sim_time: true
planner_server:
  ros__parameters:
    GridBased:
      allow_unknown: true
      plugin: nav2_navfn_planner/NavfnPlanner
      tolerance: 0.4
      use_astar: false
    expected_planner_frequency: 20.6
    planner_plugins:
    - GridBased
    use_sim_time: true
planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: true
recoveries_server:
  ros__parameters:
    backup:
      plugin: nav2_recoveries/BackUp
    costmap_topic: local_costmap/costmap_raw
    cycle_frequency: 5.7
    footprint_topic: local_costmap/published_footprint
    global_frame: odom
    max_rotational_vel: 7.2
    min_rotational_vel: 0.4
    recovery_plugins:
    - spin
    - backup
    - wait
    robot_base_frame: base_link
    rotational_acc_lim: 6.6000000000000005
    simulate_ahead_time: 1.9
    spin:
      plugin: nav2_recoveries/Spin
    transform_timeout: 0.1
    use_sim_time: true
    wait:
      plugin: nav2_recoveries/Wait
robot_state_publisher:
  ros__parameters:
    use_sim_time: true
rtabmap:
  ros__parameters:
    RGBD/NeighborLinkRefining: 'True'
    Reg/Strategy: '1'
    approx_sync: true
    frame_id: base_footprint
    subscribe_depth: false
    subscribe_rgb: false
    subscribe_scan: true
    use_sim_time: true
rtabmap_camera:
  ros__parameters:
    frame_id: base_footprint
    subscribe_depth: true
    use_sim_time: true
slam_toolbox:
  ros__parameters:
    angle_variance_penalty: 0.9
    base_frame: base_footprint
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_loss_function: None
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    coarse_angle_resolution: -0.0651
    coarse_search_angle_offset: -0.9510000000000001
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: -0.09000000000000001
    correlation_search_space_smear_deviation: -1.2
    debug_logging: false
    distance_variance_penalty: 0.6
    do_loop_closing: true
    enable_interactive_mode: true
    fine_search_angle_offset: 0.00349
    link_match_minimum_response_fine: 5.8
    link_scan_maximum_distance: -0.40000000000000013
    loop_match_maximum_variance_coarse: 6.2
    loop_match_minimum_chain_size: 10
    loop_match_minimum_response_coarse: 0.35
    loop_match_minimum_response_fine: 3.45
    loop_search_maximum_distance: 3.0
    loop_search_space_dimension: 9.4
    loop_search_space_resolution: 12.750000000000002
    loop_search_space_smear_deviation: 0.03
    map_frame: map
    map_update_interval: 3.2
    max_laser_range: 20.0
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    minimum_time_interval: 0.5
    minimum_travel_distance: 0.5
    minimum_travel_heading: 1.2000000000000002
    mode: mapping
    odom_frame: odom
    resolution: 0.35000000000000003
    scan_buffer_maximum_scan_distance: 10.0
    scan_buffer_size: 10
    scan_topic: /scan
    solver_plugin: solver_plugins::CeresSolver
    stack_size_to_use: 40000000
    tf_buffer_duration: 30.0
    throttle_scans: -35
    transform_publish_period: 2.62
    transform_timeout: 12.9
    use_response_expansion: true
    use_scan_barycenter: true
    use_scan_matching: true
    use_sim_time: true

Expected behavior

Process should not crash.

Actual behavior

the program crashed with the Asan information below:

==454685==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x6030000ae214 at pc 0x7fda71a9448d bp 0x7fda64b1bb50 sp 0x7fda64b1bb48
WRITE of size 1 at 0x6030000ae214 thread T13
    #0 0x7fda71a9448c in nav2_costmap_2d::Costmap2D::MarkCell::operator()(unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:476:24
    #1 0x7fda71a940ef in void nav2_costmap_2d::Costmap2D::bresenham2D<nav2_costmap_2d::Costmap2D::MarkCell>(nav2_costmap_2d::Costmap2D::MarkCell, unsigned int, unsigned int, int, int, int, unsigned int, unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:439:7
    #2 0x7fda7198afd4 in void nav2_costmap_2d::Costmap2D::raytraceLine<nav2_costmap_2d::Costmap2D::MarkCell>(nav2_costmap_2d::Costmap2D::MarkCell, unsigned int, unsigned int, unsigned int, unsigned int, unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:413:7
    #3 0x7fda71982b03 in nav2_costmap_2d::ObstacleLayer::raytraceFreespace(nav2_costmap_2d::Observation const&, double*, double*, double*, double*) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/plugins/obstacle_layer.cpp:608:5
    #4 0x7fda7197dac3 in nav2_costmap_2d::ObstacleLayer::updateBounds(double, double, double, double*, double*, double*, double*) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/plugins/obstacle_layer.cpp:377:5
    #5 0x7fda710716ee in nav2_costmap_2d::LayeredCostmap::updateMap(double, double, double) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/layered_costmap.cpp:150:16
    #6 0x7fda7109921e in nav2_costmap_2d::Costmap2DROS::updateMap() /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:443:25
    #7 0x7fda71093568 in nav2_costmap_2d::Costmap2DROS::mapUpdateLoop(double) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:397:5
    #8 0x7fda7126c3c1 in void std::__invoke_impl<void, void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>(std::__invoke_memfun_deref, void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #9 0x7fda7126c11a in std::__invoke_result<void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>::type std::__invoke<void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>(void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #10 0x7fda7126c037 in void std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>::__call<void, 0ul, 1ul>(std::tuple<>&&, std::_Index_tuple<0ul, 1ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #11 0x7fda7126be73 in void std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>::operator()<void>() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #12 0x7fda7126bd60 in void std::__invoke_impl<void, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >(std::__invoke_other, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:60:14
    #13 0x7fda7126bcb0 in std::__invoke_result<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >::type std::__invoke<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >(std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #14 0x7fda7126bc78 in void std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::_M_invoke<0ul>(std::_Index_tuple<0ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:244:13
    #15 0x7fda7126bc38 in std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::operator()() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:251:11
    #16 0x7fda7126b602 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > > >::_M_run() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:195:13
    #17 0x7fda6fc6cde3  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd6de3)
    #18 0x7fda701d7608 in start_thread (/lib/x86_64-linux-gnu/libpthread.so.0+0x9608)
    #19 0x7fda6f951292 in clone (/lib/x86_64-linux-gnu/libc.so.6+0x122292)

0x6030000ae214 is located 6 bytes to the right of 30-byte region [0x6030000ae1f0,0x6030000ae20e)
allocated by thread T0 here:
    #0 0x5dab4d in operator new[](unsigned long) (/home/r1/ros2_nav_fuzz/build/nav2_controller/controller_server+0x5dab4d)
    #1 0x7fda7105959c in nav2_costmap_2d::Costmap2D::initMaps(unsigned int, unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d.cpp:72:14
    #2 0x7fda71059998 in nav2_costmap_2d::Costmap2D::resizeMap(unsigned int, unsigned int, double, double, double) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d.cpp:85:3
    #3 0x7fda712f8314 in nav2_costmap_2d::CostmapLayer::matchSize() /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_layer.cpp:59:3
    #4 0x7fda719709e8 in nav2_costmap_2d::ObstacleLayer::onInitialize() /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/plugins/obstacle_layer.cpp:104:18
    #5 0x7fda71065ced in nav2_costmap_2d::Layer::initialize(nav2_costmap_2d::LayeredCostmap*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, tf2_ros::Buffer*, std::shared_ptr<rclcpp_lifecycle::LifecycleNode>, std::shared_ptr<rclcpp::Node>, std::shared_ptr<rclcpp::Node>) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/layer.cpp:61:3
    #6 0x7fda7108aa75 in nav2_costmap_2d::Costmap2DROS::on_configure(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:153:13
    #7 0x5e977c in nav2_controller::ControllerServer::on_configure(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_controller/src/nav2_controller.cpp:105:17
    #8 0x7fda701bec27 in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(unsigned int, rclcpp_lifecycle::State const&) (/opt/ros/foxy/lib/librclcpp_lifecycle.so+0x2bc27)

Thread T13 created by T0 here:
    #0 0x59607a in pthread_create (/home/r1/ros2_nav_fuzz/build/nav2_controller/controller_server+0x59607a)
    #1 0x7fda6fc6d0a8 in std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd70a8)
    #2 0x7fda71092203 in nav2_costmap_2d::Costmap2DROS::on_activate(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:224:28
    #3 0x5f30b7 in nav2_controller::ControllerServer::on_activate(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_controller/src/nav2_controller.cpp:178:17
    #4 0x7fda701bec27 in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(unsigned int, rclcpp_lifecycle::State const&) (/opt/ros/foxy/lib/librclcpp_lifecycle.so+0x2bc27)

SUMMARY: AddressSanitizer: heap-buffer-overflow /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:476:24 in nav2_costmap_2d::Costmap2D::MarkCell::operator()(unsigned int)
Shadow bytes around the buggy address:
  0x0c068000dbf0: 00 00 04 fa fa fa fd fd fd fd fa fa fd fd fd fd
  0x0c068000dc00: fa fa fd fd fd fa fa fa fd fd fd fa fa fa fd fd
  0x0c068000dc10: fd fa fa fa fd fd fd fa fa fa fd fd fd fa fa fa
  0x0c068000dc20: fd fd fd fa fa fa fd fd fd fa fa fa fd fd fd fa
  0x0c068000dc30: fa fa fd fd fd fd fa fa fd fd fd fd fa fa 00 00
=>0x0c068000dc40: 00 06[fa]fa fd fd fd fd fa fa fd fd fd fd fa fa
  0x0c068000dc50: fd fd fd fd fa fa fd fd fd fd fa fa fd fd fd fd
  0x0c068000dc60: fa fa fd fd fd fd fa fa 00 00 00 02 fa fa 00 00
  0x0c068000dc70: 00 07 fa fa fd fd fd fd fa fa fd fd fd fd fa fa
  0x0c068000dc80: fd fd fd fd fa fa 00 00 02 fa fa fa fd fd fd fd
  0x0c068000dc90: fa fa fd fd fd fd fa fa 00 00 00 05 fa fa fd fd
Shadow byte legend (one shadow byte represents 8 application bytes):
  Addressable:           00
  Partially addressable: 01 02 03 04 05 06 07 
  Heap left redzone:       fa
  Freed heap region:       fd
  Stack left redzone:      f1
  Stack mid redzone:       f2
  Stack right redzone:     f3
  Stack after return:      f5
  Stack use after scope:   f8
  Global redzone:          f9
  Global init order:       f6
  Poisoned by user:        f7
  Container overflow:      fc
  Array cookie:            ac
  Intra object redzone:    bb
  ASan internal:           fe
  Left alloca redzone:     ca
  Right alloca redzone:    cb
  Shadow gap:              cc

I'll also explore the root cause of this, just report the event first.

SteveMacenski commented 2 years ago

I'm going to close the other 4 tickets since they all seem to be in the same theme - you're randomly generating parameters without knowledge of them and things aren't reacting reasonably due to that. That all falls under 1 ticket categorization (and renaming this ticket appropriately). You linked the other tickets here so they're still findable for the specific instance descriptions.

Due to the nature of your experiment, I just don't have the time to guess and check one of a hundred different parameters to know what's happening. To be more principled if you're trying to help make Nav2 robust against user misconfiguration is to change 1 parameter at a time so you know which is at fault due to a particular crash. Obviously there may be situations where multiple parameters interact to cause a crash, but fixing 1 step at a time to make this problem tractable and take bite-sized pieces. Then go to fuzzing 1 node at a time so you know where its isolated to, then the full system.

We also do not recommend the use of the goal_pose topic to send navigation requests. We provide a robust and complete action API to Nav2, the only reason the subscription API still exists is for default out-of-the-box testing using Rviz2 (but even then, if you use Rviz2 configs in this repo, we replace the GoToPose tool with another that uses the Action API). I doubt that changes anything from your work, but more of an informational comment.

Cryst4L9527 commented 2 years ago

Okay，I'm trying to find the actual parameters which causes these crashes. In addition, some of the crashes happened before the goal_pose is submitted, so there will be no changes for my work. Thank you for your advice, I'll try to use the new API in my following work.