SIGABRT parsing yaml config file (double free detected) #553
Description
Bug report
rclcpp::init(...) causing SIGABRT while parsing config yaml that is well formed yaml but not valid ROS2 parameters format. For example, if yaml has only a single underscore in ros__parameters.
- Operating System: Ubuntu 19.04 on x64 and also reproduced on RPI4 using Ubuntu 19
- Installation type: source
- Version or commit hash: eloquent branch
- DDS implementation: default
- Client library (if applicable): rclcpp
Steps to reproduce issue
remove an underscore from ros__parameters. Or have a yaml without node-name, such as just:
joints: 17
Expected behavior
Should produce an error saying the yaml file is malformed, or at least not crash but node would not receive parameters.
Actual behavior
Program produces the following output:
free(): double free detected in tcache 2
Aborted (core dumped)
Additional information
Using --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="-fsanitize=address" produces this output:
AddressSanitizer:DEADLYSIGNAL
=================================================================
==24262==ERROR: AddressSanitizer: SEGV on unknown address 0x00002dfffff1 (pc 0x7f3437322962 bp 0x00002dfffff1 sp 0x7ffecf4d24c0 T0)
==24262==The signal is caused by a WRITE memory access.
#0 0x7f3437322961 (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x28961)
#1 0x7f3437406014 in __interceptor_free (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x10c014)
#2 0x7f3436d0a6de in __default_deallocate (/opt/ros2/eloquent/install/rcutils/lib/librcutils.so+0x46de)
#3 0x7f34367308e8 in rcl_yaml_node_struct_fini (/opt/ros2/eloquent/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so+0x28e8)
#4 0x7f343676ab8e in rcl_arguments_fini (/opt/ros2/eloquent/install/rcl/lib/librcl.so+0xfb8e)
#5 0x7f3436769ab0 in rcl_parse_arguments (/opt/ros2/eloquent/install/rcl/lib/librcl.so+0xeab0)
#6 0x7f3436772f19 in rcl_init (/opt/ros2/eloquent/install/rcl/lib/librcl.so+0x17f19)
#7 0x7f34370f5d69 in rclcpp::Context::init(int, char const* const*, rclcpp::InitOptions const&) (/opt/ros2/eloquent/install/rclcpp/lib/librclcpp.so+0x3d9d69)
#8 0x7f3437212fa7 in rclcpp::init(int, char const* const*, rclcpp::InitOptions const&) (/opt/ros2/eloquent/install/rclcpp/lib/librclcpp.so+0x4f6fa7)
#9 0x55c93cebce1a in main /home/guru/src/humanoid/ros2/humanoid/src/lss_joint_publisher/src/lss_joint_states.cpp:96
#10 0x7f3436943b6a in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x26b6a)
#11 0x55c93ceba619 in _start (/home/guru/src/humanoid/ros2/humanoid/build/lss_joint_publisher/lss_joint_states+0xf619)
AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (/usr/lib/x86_64-linux-gnu/libasan.so.5+0x28961)