Capture `std::bad_alloc` on deserializeROSmessage. #665

MiguelCompany · 2023-01-26T12:14:20Z

This should fix crashes coming from serialization mismatches that cannot be detected by Fast CDR

Related to ros2/ros2_documentation#3288 (comment)

fujitatomoya · 2023-01-26T17:57:21Z

service client (cyclonedds)

cannot get the result from server.

root@tomoyafujita:~/ros2_ws/colcon_ws# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp add_two_ints_client
^C[INFO] [1674755622.413766599] [rclcpp]: signal_handler(signum=2)
[ERROR] [1674755622.414263025] [add_two_ints_client]: Interrupted while waiting for response. Exiting.

service server (Fast-DDS)

in this sample, cannot observe the core dump or crash. but it is obvious that de-serialization works unexpectedly.

root@tomoyafujita:~/ros2_ws/colcon_ws# cat DEFAULT_FASTRTPS_PROFILES.xml 
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

  <!-- Default publisher profile -->
  <data_writer profile_name="default publisher profile" is_default_profile="true">
    <qos>
      <data_sharing>
        <kind>AUTOMATIC</kind>
      </data_sharing>
    </qos>
    <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
  </data_writer>

  <data_reader profile_name="default subscription profile" is_default_profile="true">
    <qos>
      <data_sharing>
        <kind>AUTOMATIC</kind>
      </data_sharing>
    </qos>
    <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
  </data_reader>
</profiles>
root@tomoyafujita:~/ros2_ws/colcon_ws# export RMW_FASTRTPS_USE_QOS_FROM_XML=1
root@tomoyafujita:~/ros2_ws/colcon_ws# RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run demo_nodes_cpp add_two_ints_server 
[INFO] [1674755608.560241436] [add_two_ints_server]: Incoming request
a: -2268473885457029753 b: 1
^C[INFO] [1674755623.645151231] [rclcpp]: signal_handler(signum=2)

fujitatomoya

lgtm, this should avoid unexpected exceptions during de-serialization.

fujitatomoya · 2023-01-26T18:00:02Z

@alsora @mauropasse if possible, would you mind trying this patch to see if it can avoid the program crash? (just sending request to the server can get the program crashed, for me that is the security issue...)

clalancette · 2023-02-16T18:22:14Z

rmw_fastrtps_cpp/src/type_support_common.cpp

@@ -119,6 +119,11 @@ bool TypeSupport::deserializeROSmessage(
      "Fast CDR exception deserializing message of type %s.",
      getName());
    return false;
+  } catch (...) {


Generally, we would prefer to have specific exceptions listed here, rather than just catch everything.

What exceptions can this deserialization throw?

Looking at the original report, it looks like we should just catch std::bad_alloc for now. @MiguelCompany if you make that change and rebase this PR onto the latest, I'll be happy to approve and run CI on it.

christophfroehlich · 2023-11-13T15:49:41Z

This fixes #733 if I build this branch from source in the humble container. Is there any chance that this gets merged and backported to humble?

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

clalancette

Two more minor changes, then we can run CI on this. Thanks!

rmw_fastrtps_cpp/src/type_support_common.cpp

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

clalancette

Thanks! Will run CI on this next.

clalancette · 2024-01-08T14:00:21Z

CI:

Linux
Linux-aarch64
Windows

christophfroehlich · 2024-01-15T09:19:14Z

@clalancette would you mind backporting this to iron and humble as well? This would fix #733 then.

clalancette · 2024-01-16T14:23:41Z

@Mergifyio backport humble iron

mergify · 2024-01-16T14:23:46Z

backport humble iron

✅ Backports have been created

#737 Capture std::bad_alloc on deserializeROSmessage. (backport #665) has been created for branch humble
#738 Capture std::bad_alloc on deserializeROSmessage. (backport #665) has been created for branch iron

* Capture bad_alloc on deserializeROSmessage. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 4d0be32)

* Capture bad_alloc on deserializeROSmessage. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 4d0be32) Co-authored-by: Miguel Company <miguelcompany@eprosima.com>

naorwaiss · 2024-08-03T12:06:49Z

hi can i get some help
i try to get topic at my ros2 iron from my jetson nano 20.04 that run ros2 foxy
i get the same errror..

fujitatomoya · 2024-08-03T21:46:02Z

@naorwaiss foxy is E.O.L https://docs.ros.org/en/rolling/Releases.html#list-of-distributions, can you try ROS Iron instead of 20.04 that run ros2 foxy?

naorwaiss · 2024-08-04T04:34:40Z

um i use jetson nano so i can run ubuntu 20.04 - this mean if i understand it .. that i can install only ros2 foxy because ros2 iron is available to ubuntu 22.04..

fujitatomoya · 2024-08-04T16:09:58Z

I think that is the requirement for jetson nano platform? can you ask help for jetson community?

naorwaiss · 2024-08-06T03:07:43Z

hi the installation of humble isnt work - can help me to make the bridge between ros2 iron and foxy ?

fujitatomoya · 2024-08-06T16:50:46Z

can help me to make the bridge between ros2 iron and foxy ?

cross-distribution communication is not officially supported.

MiguelCompany requested review from gbiggs and sloretz as code owners January 26, 2023 12:14

fujitatomoya approved these changes Jan 26, 2023

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clalancette reviewed Feb 16, 2023

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MiguelCompany mentioned this pull request Nov 13, 2023

humble nodes throw std::bad_alloc if nodes from iron or rolling run on the same network #733

Closed

Capture all exceptions on deserializeROSmessage.

b5b734d

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

MiguelCompany force-pushed the hotfix/exception-on-deserialize branch from 5fa730e to c4f869a Compare January 8, 2024 11:36

Only capture bad_alloc.

a479bcd

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

MiguelCompany force-pushed the hotfix/exception-on-deserialize branch from c4f869a to a479bcd Compare January 8, 2024 11:43

MiguelCompany changed the title ~~Capture all exceptions on deserializeROSmessage.~~ Capture std::bad_alloc on deserializeROSmessage. Jan 8, 2024

clalancette requested changes Jan 8, 2024

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rmw_fastrtps_cpp/src/type_support_common.cpp Outdated Show resolved Hide resolved

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp Outdated Show resolved Hide resolved

Capture const reference.

2e8c1e6

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

clalancette approved these changes Jan 8, 2024

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clalancette merged commit 4d0be32 into ros2:rolling Jan 8, 2024
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MiguelCompany deleted the hotfix/exception-on-deserialize branch January 10, 2024 07:34

mergify bot pushed a commit that referenced this pull request Jan 16, 2024

Capture std::bad_alloc on deserializeROSmessage. (#665)

5720e93

* Capture bad_alloc on deserializeROSmessage. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 4d0be32)

mergify bot pushed a commit that referenced this pull request Jan 16, 2024

Capture std::bad_alloc on deserializeROSmessage. (#665)

202244e

* Capture bad_alloc on deserializeROSmessage. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 4d0be32)

This was referenced Jan 16, 2024

Capture std::bad_alloc on deserializeROSmessage. (backport #665) #737

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Capture std::bad_alloc on deserializeROSmessage. (backport #665) #738

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Capture `std::bad_alloc` on deserializeROSmessage. #665

Capture `std::bad_alloc` on deserializeROSmessage. #665

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Capture std::bad_alloc on deserializeROSmessage. #665

Capture std::bad_alloc on deserializeROSmessage. #665

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✅ Backports have been created

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Capture `std::bad_alloc` on deserializeROSmessage. #665

Capture `std::bad_alloc` on deserializeROSmessage. #665

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