check params of costmap to avoid abnormal memory usage caused by user-misconfiguration mentioned in issue #4005 #4017
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #4017 +/- ##
==========================================
+ Coverage 90.17% 90.40% +0.22%
==========================================
Files 415 415
Lines 18579 18583 +4
==========================================
+ Hits 16754 16800 +46
+ Misses 1825 1783 -42 ☔ View full report in Codecov by Sentry. |
SteveMacenski
approved these changes
Dec 19, 2023
jwallace42
pushed a commit
to jwallace42/navigation2
that referenced
this pull request
Jan 3, 2024
Co-authored-by: GoesM <[email protected]> Signed-off-by: gg <[email protected]>
SteveMacenski
pushed a commit
that referenced
this pull request
Jan 24, 2024
Co-authored-by: GoesM <[email protected]>
SteveMacenski
added a commit
that referenced
this pull request
Jan 24, 2024
* collision_monitor: dynamic polygon and source enable/disable (#3825) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * initial * fix * fix * remove unrelated change * reset * fix format * PR fixes * Add test * fix comments * add to params * publish only if enabled * Add source dynamic enable/disable * add enabled param to sources * fix * add same to collision detector * Update README.md: fix typo (#3842) * Update package.xml * fix typo (#3850) * adjust link to point to v3.8 of behavior tree docs (#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]> * Fix action test failure due to rate after Rolling sync API change (#3852) * Update CMakeLists.txt (#3843) * add option for sse4 and avs512 (#3853) * Remove all exit(-1) crash conditions (#3846) * Update transform_available_condition.cpp * wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash * some linting * fix typo * Update controller.cpp * Update nav2_params.yaml * Update nav2_params.yaml * simplication of lattice_generator.py, fixes #3858 (#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Stop error diagnostics when pausing nav (#3830) * Added nodestate enum and a variable to keep track of current state of managed nodes. * Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message. * Fixing bugs. * Updated/added docstrings. * Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case. * Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method. * Bugfix. --------- Co-authored-by: Pekka Myller <[email protected]> * Add a timeout to the wait for transforms step of the costmap activation. (#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <[email protected]> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <[email protected]> --------- Signed-off-by: Fabian König <[email protected]> * Fix class doxygen * fix minor typos (#3892) Signed-off-by: Anton Kesy <[email protected]> * Publish collision points for debug purposes (#3879) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * . * fixes * add to collision detector * fix * fix * . * fixes * add namespace to topic * fixes * fix use after free (#3910) * fix build mppi (#3927) Signed-off-by: kevin <[email protected]> Co-authored-by: kevin <[email protected]> * Removing old TODOs * protect invalid max_velocity min_velocity (#3953) Co-authored-by: Guillaume Doisy <[email protected]> * protect properly max_accel and max_decel (#3952) Co-authored-by: Guillaume Doisy <[email protected]> * Fixed links for install and build in README (#3963) Currently the readme is linking to an invalida page in the docs (404 error). * adding support for rotate in place cusps (#3934) * Fix linting error (#3969) * Fix linting error * Update regulated_pure_pursuit_controller.cpp * fix a few outdated comments in smac planners (#3978) * adding soft realtime prioritization for collision monitor and velocity smoother (#3979) * adding soft realtime prioritization for collision monitor and velocity smoother * refactor simple action server to use new utils API * Update README.md * Synchronize map size information during map initialization (#4015) * Update costmap size configuration This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated. * Refactor costmap size assignment in Costmap2D class The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity. * check width&height params (#4017) Co-authored-by: GoesM <[email protected]> * Fix SimpleActionServer nullprt callback (#4025) * add check before calling completion_callback_ * Fix lint * footprint checks (#4030) * footprint checks Signed-off-by: gg <[email protected]> * lint fix Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]> * Is path valid doc (#4032) * docs Signed-off-by: gg <[email protected]> * update Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]> * Update vision_opencv's branch for rolling Signed-off-by: Steve Macenski <[email protected]> * handle dynamically changes in parameters. (#4046) Signed-off-by: Sebastian Solarte <[email protected]> * Add inflation_layer_name param (#4047) Signed-off-by: Renan Salles <[email protected]> * missing urdf dep (#4050) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * bump to 1.2.6 for release --------- Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Fabian König <[email protected]> Signed-off-by: Anton Kesy <[email protected]> Signed-off-by: kevin <[email protected]> Signed-off-by: gg <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Sebastian Solarte <[email protected]> Signed-off-by: Renan Salles <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: thandal <[email protected]> Co-authored-by: Anton Kesy <[email protected]> Co-authored-by: CihatAltiparmak <[email protected]> Co-authored-by: Anil Kumar Chavali <[email protected]> Co-authored-by: Plaqueoff <[email protected]> Co-authored-by: Pekka Myller <[email protected]> Co-authored-by: Fabian König <[email protected]> Co-authored-by: 정찬희 <[email protected]> Co-authored-by: kevin <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Abiel Fernandez <[email protected]> Co-authored-by: Michael Ferguson <[email protected]> Co-authored-by: Hao-Li-Bachelorarbeit <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Sebastian Solarte <[email protected]> Co-authored-by: Renan Salles <[email protected]>
enricosutera
pushed a commit
to enricosutera/navigation2
that referenced
this pull request
May 19, 2024
Co-authored-by: GoesM <[email protected]> Signed-off-by: enricosutera <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
Description of contribution in a few bullet points
As the issue #4005 showed:
If user-misconfiguration (user wrongly set the height or the width of costmap to be negative or zero) existed, the memory usage would sharply increase and even make user's equipment unable to continue working.
so I added some
ifcondition in functionCostmap2DROS::getParameters()in costmap_2d_ros to avoid such unexpected situation.Description of documentation updates required from your changes
Future work that may be required in bullet points
I noticed that here's already some similar check in
dynamicParametersCallback():costmap_2d_ros.cppL740-L762
It's obvious that the check needed in
dynamicParametersCallbackis also needed to add intogetParameters()all the time,So for clearer code, shall we create a
checkParameters()function especially for check (which is being referenced by bothgetParameters()anddynamicParametersCallback()) ?