replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180)

GoesM · GoesM · enricosutera · commit 4a23ff29c365 · 2024-05-19T23:32:11.000+02:00
* replace throw-error with error-log to avoid UAF

Signed-off-by: GoesM &lt;GoesM@buaa.edu.cn&gt;

* fix typo

Signed-off-by: GoesM &lt;GoesM@buaa.edu.cn&gt;

---------

Signed-off-by: GoesM &lt;GoesM@buaa.edu.cn&gt;
Co-authored-by: GoesM &lt;GoesM@buaa.edu.cn&gt;
Signed-off-by: enricosutera &lt;enricosutera@outlook.com&gt;
diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -315,7 +315,7 @@ class SimpleActionServer
       if (steady_clock::now() - start_time >= server_timeout_) {
         terminate_all();
         if (completion_callback_) {completion_callback_();}
-        throw std::runtime_error("Action callback is still running and missed deadline to stop");
+        error_msg("Action callback is still running and missed deadline to stop");
       }
     }
 

Original file line number	Diff line number	Diff line change
`@@ -315,7 +315,7 @@ class SimpleActionServer`
`315`	`315`	`if (steady_clock::now() - start_time >= server_timeout_) {`
`316`	`316`	`terminate_all();`
`317`	`317`	`if (completion_callback_) {completion_callback_();}`
`318`		`- throw std::runtime_error("Action callback is still running and missed deadline to stop");`
	`318`	`+ error_msg("Action callback is still running and missed deadline to stop");`
`319`	`319`	`}`
`320`	`320`	`}`
`321`	`321`