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Fix SEGV caused by goal_handle_ which is nullptr while result_callback called #2356

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Merged
merged 2 commits into from
May 29, 2021
Merged

Fix SEGV caused by goal_handle_ which is nullptr while result_callback called #2356

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2d8de77
Fix SEGV caused by goal_handle_ which is nullptr while result_callbac…
KavenYau May 21, 2021
7ad5d2d
Ignoring the goal result if a new goal request sent
KavenYau May 29, 2021
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15 changes: 15 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,6 +312,21 @@ class BtActionNode : public BT::ActionNodeBase
auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
send_goal_options.result_callback =
[this](const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult & result) {
if (!this->goal_handle_) {
if (!future_goal_handle_) {
// Shouldn't run into this block scope
RCLCPP_WARN(
node_->get_logger(),
"Goal result for %s available, but it can not get a valid goal_handle_. "
"Normally, this message shouldn't be printed.",
action_name_.c_str());
return;
}

// If the future_goal_handle_ is not nullptr, try to get goal_handle_
this->goal_handle_ = future_goal_handle_->get();
}

// TODO(#1652): a work around until rcl_action interface is updated
// if goal ids are not matched, the older goal call this callback so ignore the result
// if matched, it must be processed (including aborted)
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