Possible buffer overflow.

FabianSchurig commented 4 years ago

Hello @tfoote

It would be nice if you could double check a possible buffer overflow with the latest release 0.7.3.

My System:

OS: Ubuntu 20.04 Focal ROS: noetic

Latest deb package versions:

ros-noetic-rviz | 1.14.1-1focal.20200826.191801
ros-noetic-tf2 | 0.7.3-1focal.20200826.180741
ros-noetic-tf2-ros | 0.7.3-1focal.20200826.183648

Issue:

I automatically apt updated my software, so also geometry2 packages from 0.7.2 to 0.7.3.

Now, multiple packages using sub packages of geometry2 are terminated as follows during runtime:

*** buffer overflow detected ***: terminated
================================================================================REQUIRED process [rviz-12] has died!
process has died [pid 141282, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/******/rviz/***.rviz __name:=rviz __log:=/home/***/.ros/log/06ae3f90-eba8-11ea-8283-7595d98b49cf/rviz-12.log].
log file: /home/***/.ros/log/06ae3f90-eba8-11ea-8283-7595d98b49cf/rviz-12*.log
Initiating shutdown!
================================================================================

Current Workaround:

I did clone geometry2 into my workspace and used tag 0.7.2. Packages like rviz using tf2 no longer crash. I guess there might be some change from 0.7.2 to 0.7.3 which causes that crash.

Hugal31 commented 4 years ago

The culprits might be some faulty snprintf. Example: https://github.com/ros/geometry2/blob/6afd735afc3d641ec6afa762dd0922ed8b2f6e96/tf2/src/cache.cpp#L94-L98

reinzor commented 4 years ago

We also experience this issue on ROS Noetic:

rosversion tf2 
0.7.3

reinzor commented 4 years ago

Tried https://github.com/ros/geometry2/pull/479 ; this seems to resolve the issue.

doisyg commented 4 years ago

Same here ! Got the issue after the last sync (yesterday). Our whole app is crashed. How come this was released ? This should not have passed the tests

doisyg commented 4 years ago

Tried #479 ; this seems to resolve the issue.

Indeed! Solves it for us

reinzor commented 4 years ago

Same here ! Got the issue after the last sync (yesterday). Our whole app is crashed. How come this was released ? This should not have passed the tests

Only crashes here when I compile in Release. When I compile in Debug, I don't encounter any problems.

tfoote commented 4 years ago

Fixed in #479

@reinzor That's probably due to a slightly different memory layout in debug and is probably why the tests passed too.

New release prepared here: https://github.com/ros/rosdistro/pull/26407

CodeFinder2 commented 4 years ago

When will this fix be available as Ubuntu 20.04 package (ros-noetic-geometry2)?

reinzor commented 4 years ago

When will this fix be available as Ubuntu 20.04 package (ros-noetic-geometry2)?

You will have to wait for the next Noetic sync

gavanderhoorn commented 4 years ago

Or configure the testing repository.

chrisl8 commented 4 years ago

FYI: This hit me on Saturday evening (September 5th), and I spent many hours banging my head against it.

I'm not sure how to increase visibility on this, but I think we are going to see a lot of reports on this issue.

Someone added a ROS Answers post about it here: https://answers.ros.org/question/360820/buffer-overflow-at-tf-transformlistener/ so hopefully that will help people find their way to the fix faster than I found it. :-)

ros / geometry2