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zhihaoshang opened this issue Apr 7, 2025 · 2 comments
Open

Constructor ScrewVisual::ScrewVisual does not handle null pointers, leading to crashes #1383

zhihaoshang opened this issue Apr 7, 2025 · 2 comments
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@zhihaoshang
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Operating System:

Linux shangzh-VMware-Virtual-Platform 6.11.0-19-generic #19~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Feb 17 11:51:52 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

ros2 jazzy

RMW implementation (if applicable):

No response

RMW Configuration (if applicable):

No response

Client library (if applicable):

rviz

'ros2 doctor --report' output

ros2 doc --report 
   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<LOOPBACK,UP,RUNNING>
mtu          : 65536
inet         : 192.168.148.137
inet4        : ['192.168.148.137']
ether        : 00:0c:29:be:c8:19
inet6        : ['fe80::20c:29ff:febe:c819%ens33']
netmask      : 255.255.255.0
device       : ens33
flags        : 4163<RUNNING,UP,BROADCAST,MULTICAST>
mtu          : 1500
broadcast    : 192.168.148.255

   PACKAGE VERSIONS
rqt_bag_plugins                           : latest=1.5.4, local=1.5.4
rosbag2                                   : latest=0.26.6, local=0.26.6
rosbag2_storage_default_plugins           : latest=0.26.6, local=0.26.6
rosbag2_storage_mcap                      : latest=0.26.6, local=0.26.6
rosbag2_compression_zstd                  : latest=0.26.6, local=0.26.6
mcap_vendor                               : latest=0.26.6, local=0.26.6
zstd_vendor                               : latest=0.26.6, local=0.26.6
rviz_visual_testing_framework             : latest=14.1.8, local=14.1.7
rviz2                                     : latest=14.1.8, local=14.1.7
rviz_default_plugins                      : latest=14.1.8, local=14.1.7
rviz_common                               : latest=14.1.8, local=14.1.7
rqt_bag                                   : latest=1.5.4, local=1.5.4
rosbag2_examples_py                       : latest=0.26.6, local=0.26.6
launch_testing_examples                   : latest=0.19.5, local=0.19.4
ros2bag                                   : latest=0.26.6, local=0.26.6
rosbag2_py                                : latest=0.26.6, local=0.26.6
rosbag2_transport                         : latest=0.26.6, local=0.26.6
rosbag2_storage_sqlite3                   : latest=0.26.6, local=0.26.6
rosbag2_examples_cpp                      : latest=0.26.6, local=0.26.6
rosbag2_compression                       : latest=0.26.6, local=0.26.6
rosbag2_cpp                               : latest=0.26.6, local=0.26.6
rosbag2_storage                           : latest=0.26.6, local=0.26.6
image_common                              : latest=5.1.6, local=5.1.5
camera_info_manager                       : latest=5.1.6, local=5.1.5
camera_calibration_parsers                : latest=5.1.6, local=5.1.5
yaml_cpp_vendor                           : latest=9.0.1, local=9.0.1
interactive_markers                       : latest=2.5.4, local=2.5.4
common_interfaces                         : latest=5.3.6, local=5.3.5
visualization_msgs                        : latest=5.3.6, local=5.3.5
dummy_robot_bringup                       : latest=0.33.5, local=0.33.5
robot_state_publisher                     : latest=3.3.3, local=3.3.3
kdl_parser                                : latest=2.11.0, local=2.11.0
urdf                                      : latest=2.10.0, local=2.10.0
urdf_parser_plugin                        : latest=2.10.0, local=2.10.0
turtlesim                                 : latest=1.8.3, local=1.8.3
trajectory_msgs                           : latest=5.3.6, local=5.3.5
tracetools_test                           : latest=8.2.3, local=8.2.3
tracetools_launch                         : latest=8.2.3, local=8.2.3
topic_statistics_demo                     : latest=0.33.5, local=0.33.5
topic_monitor                             : latest=0.33.5, local=0.33.5
pendulum_control                          : latest=0.33.5, local=0.33.5
tlsf_cpp                                  : latest=0.17.1, local=0.17.0
geometry2                                 : latest=0.36.9, local=0.36.8
tf2_tools                                 : latest=0.36.9, local=0.36.8
tf2_sensor_msgs                           : latest=0.36.9, local=0.36.8
test_tf2                                  : latest=N/A, local=0.36.8
tf2_kdl                                   : latest=0.36.9, local=0.36.8
tf2_geometry_msgs                         : latest=0.36.9, local=0.36.8
examples_tf2_py                           : latest=0.36.9, local=0.36.8
tf2_ros_py                                : latest=0.36.9, local=0.36.8
tf2_eigen                                 : latest=0.36.9, local=0.36.8
tf2_bullet                                : latest=0.36.9, local=0.36.8
tf2_ros                                   : latest=0.36.9, local=0.36.8
tf2_py                                    : latest=0.36.9, local=0.36.8
tf2_msgs                                  : latest=0.36.9, local=0.36.8
tf2_eigen_kdl                             : latest=0.36.9, local=0.36.8
laser_geometry                            : latest=2.7.0, local=2.7.0
tf2                                       : latest=0.36.9, local=0.36.8
test_tracetools                           : latest=N/A, local=8.2.3
rosbag2_test_common                       : latest=0.26.6, local=0.26.6
test_msgs                                 : latest=2.0.2, local=2.0.2
test_communication                        : latest=N/A, local=0.20.2
stereo_msgs                               : latest=5.3.6, local=5.3.5
std_srvs                                  : latest=5.3.6, local=5.3.5
shape_msgs                                : latest=5.3.6, local=5.3.5
examples_rclpy_pointcloud_publisher       : latest=0.19.5, local=0.19.4
sensor_msgs_py                            : latest=5.3.6, local=5.3.5
quality_of_service_demo_py                : latest=0.33.5, local=0.33.5
quality_of_service_demo_cpp               : latest=0.33.5, local=0.33.5
point_cloud_transport_py                  : latest=4.0.4, local=4.0.3
point_cloud_transport                     : latest=4.0.4, local=4.0.3
map_msgs                                  : latest=2.4.1, local=2.4.1
intra_process_demo                        : latest=0.33.5, local=0.33.5
image_transport                           : latest=5.1.6, local=5.1.5
image_tools                               : latest=0.33.5, local=0.33.5
dummy_sensors                             : latest=0.33.5, local=0.33.5
camera_info_manager_py                    : latest=5.1.6, local=5.1.5
sensor_msgs                               : latest=5.3.6, local=5.3.5
rqt_plot                                  : latest=1.4.2, local=1.4.2
ros2cli_common_extensions                 : latest=0.3.0, local=0.3.0
ros2doctor                                : latest=0.32.3, local=0.32.2
dummy_map_server                          : latest=0.33.5, local=0.33.5
nav_msgs                                  : latest=5.3.6, local=5.3.5
message_filters                           : latest=4.11.5, local=4.11.4
logging_demo                              : latest=0.33.5, local=0.33.5
lifecycle_py                              : latest=0.33.5, local=0.33.5
lifecycle                                 : latest=0.33.5, local=0.33.5
diagnostic_msgs                           : latest=5.3.6, local=5.3.5
geometry_msgs                             : latest=5.3.6, local=5.3.5
examples_rclpy_minimal_subscriber         : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_service            : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_publisher          : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_client             : latest=0.19.5, local=0.19.4
examples_rclpy_executors                  : latest=0.19.5, local=0.19.4
examples_rclcpp_wait_set                  : latest=0.19.5, local=0.19.4
examples_rclcpp_multithreaded_executor    : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_subscriber        : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_publisher         : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_composition       : latest=0.19.5, local=0.19.4
examples_rclcpp_cbg_executor              : latest=0.19.5, local=0.19.4
demo_nodes_py                             : latest=0.33.5, local=0.33.5
demo_nodes_cpp_native                     : latest=0.33.5, local=0.33.5
demo_nodes_cpp                            : latest=0.33.5, local=0.33.5
composition                               : latest=0.33.5, local=0.33.5
actionlib_msgs                            : latest=5.3.6, local=5.3.5
std_msgs                                  : latest=5.3.6, local=5.3.5
rqt                                       : latest=1.6.0, local=1.6.0
rqt_gui_cpp                               : latest=1.6.0, local=1.6.0
ros2lifecycle_test_fixtures               : latest=0.32.3, local=0.32.2
ros2component                             : latest=0.32.3, local=0.32.2
rclcpp_lifecycle                          : latest=28.1.8, local=28.1.6
action_tutorials_cpp                      : latest=0.33.5, local=0.33.5
rclcpp_components                         : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_action_server     : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_action_client     : latest=0.19.5, local=0.19.4
rclcpp_action                             : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_timer             : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_service           : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_client            : latest=0.19.5, local=0.19.4
examples_rclcpp_async_client              : latest=0.19.5, local=0.19.4
rclcpp                                    : latest=28.1.8, local=28.1.6
libstatistics_collector                   : latest=1.7.4, local=1.7.4
statistics_msgs                           : latest=2.0.2, local=2.0.2
sros2_cmake                               : latest=0.13.3, local=0.13.2
sros2                                     : latest=0.13.3, local=0.13.2
rqt_topic                                 : latest=1.7.3, local=1.7.3
rqt_srv                                   : latest=1.2.2, local=1.2.2
rqt_shell                                 : latest=1.2.2, local=1.2.2
rqt_service_caller                        : latest=1.2.1, local=1.2.1
rqt_reconfigure                           : latest=1.6.2, local=1.6.2
rqt_py_console                            : latest=1.2.2, local=1.2.2
rqt_publisher                             : latest=1.7.2, local=1.7.2
rqt_action                                : latest=2.2.0, local=2.2.0
rqt_msg                                   : latest=1.5.1, local=1.5.1
rqt_console                               : latest=2.2.1, local=2.2.1
rqt_py_common                             : latest=1.6.0, local=1.6.0
rqt_graph                                 : latest=1.5.4, local=1.5.4
rqt_gui_py                                : latest=1.6.0, local=1.6.0
rqt_gui                                   : latest=1.6.0, local=1.6.0
ros_testing                               : latest=0.6.0, local=0.6.0
ros2trace                                 : latest=8.2.3, local=8.2.3
ros2topic                                 : latest=0.32.3, local=0.32.2
ros2test                                  : latest=0.6.0, local=0.6.0
ros2param                                 : latest=0.32.3, local=0.32.2
ros2lifecycle                             : latest=0.32.3, local=0.32.2
ros2service                               : latest=0.32.3, local=0.32.2
ros2run                                   : latest=0.32.3, local=0.32.2
ros2launch                                : latest=0.26.7, local=0.26.6
ros2pkg                                   : latest=0.32.3, local=0.32.2
ros2node                                  : latest=0.32.3, local=0.32.2
ros2multicast                             : latest=0.32.3, local=0.32.2
ros2interface                             : latest=0.32.3, local=0.32.2
ros2action                                : latest=0.32.3, local=0.32.2
ros2cli                                   : latest=0.32.3, local=0.32.2
launch_testing_ros                        : latest=0.26.7, local=0.26.6
launch_ros                                : latest=0.26.7, local=0.26.6
examples_rclpy_minimal_action_server      : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_action_client      : latest=0.19.5, local=0.19.4
examples_rclpy_guard_conditions           : latest=0.19.5, local=0.19.4
action_tutorials_py                       : latest=0.33.5, local=0.33.5
rclpy                                     : latest=7.1.4, local=7.1.3
rosgraph_msgs                             : latest=2.0.2, local=2.0.2
rosbag2_interfaces                        : latest=0.26.6, local=0.26.6
ros2cli_test_interfaces                   : latest=0.32.3, local=0.32.2
rcl_lifecycle                             : latest=9.2.5, local=9.2.4
rcl_action                                : latest=9.2.5, local=9.2.4
rcl                                       : latest=9.2.5, local=9.2.4
rmw_implementation                        : latest=2.15.5, local=2.15.5
rmw_fastrtps_dynamic_cpp                  : latest=8.4.2, local=8.4.2
rmw_fastrtps_cpp                          : latest=8.4.2, local=8.4.2
rmw_fastrtps_shared_cpp                   : latest=8.4.2, local=8.4.2
rmw_cyclonedds_cpp                        : latest=2.2.3, local=2.2.3
rmw_connextddsmicro                       : latest=N/A, local=0.22.1
rmw_connextdds                            : latest=0.22.1, local=0.22.1
rmw_connextdds_common                     : latest=0.22.1, local=0.22.1
rmw_dds_common                            : latest=3.1.0, local=3.1.0
composition_interfaces                    : latest=2.0.2, local=2.0.2
rcl_interfaces                            : latest=2.0.2, local=2.0.2
pendulum_msgs                             : latest=0.33.5, local=0.33.5
lifecycle_msgs                            : latest=2.0.2, local=2.0.2
example_interfaces                        : latest=0.12.0, local=0.12.0
action_tutorials_interfaces               : latest=0.33.5, local=0.33.5
rosidl_default_runtime                    : latest=1.6.0, local=1.6.0
rosidl_default_generators                 : latest=1.6.0, local=1.6.0
action_msgs                               : latest=2.0.2, local=2.0.2
unique_identifier_msgs                    : latest=2.5.0, local=2.5.0
type_description_interfaces               : latest=2.0.2, local=2.0.2
service_msgs                              : latest=2.0.2, local=2.0.2
builtin_interfaces                        : latest=2.0.2, local=2.0.2
rosidl_core_runtime                       : latest=0.2.0, local=0.2.0
rosidl_core_generators                    : latest=0.2.0, local=0.2.0
rosidl_generator_py                       : latest=0.22.0, local=0.22.0
ament_lint_common                         : latest=0.17.2, local=0.17.1
ament_cmake_uncrustify                    : latest=0.17.2, local=0.17.1
ament_uncrustify                          : latest=0.17.2, local=0.17.1
uncrustify_vendor                         : latest=3.0.1, local=3.0.0
tracetools_trace                          : latest=8.2.3, local=8.2.3
tracetools_read                           : latest=8.2.3, local=8.2.3
tracetools                                : latest=8.2.3, local=8.2.3
tlsf                                      : latest=0.9.0, local=0.9.0
qt_gui_core                               : latest=2.7.5, local=2.7.5
qt_gui_cpp                                : latest=2.7.5, local=2.7.5
pluginlib                                 : latest=5.4.2, local=5.4.2
tinyxml2_vendor                           : latest=0.9.1, local=0.9.1
test_tracetools_launch                    : latest=N/A, local=8.2.3
test_security                             : latest=N/A, local=0.20.2
test_ros2trace                            : latest=N/A, local=8.2.3
test_rmw_implementation                   : latest=N/A, local=2.15.5
test_rclcpp                               : latest=N/A, local=0.20.2
test_quality_of_service                   : latest=N/A, local=0.20.2
test_launch_testing                       : latest=N/A, local=3.4.3
test_launch_ros                           : latest=N/A, local=0.26.6
test_interface_files                      : latest=0.11.0, local=0.11.0
test_cli_remapping                        : latest=N/A, local=0.20.2
test_cli                                  : latest=N/A, local=0.20.2
qt_gui_app                                : latest=2.7.5, local=2.7.5
qt_gui                                    : latest=2.7.5, local=2.7.5
tango_icons_vendor                        : latest=0.3.0, local=0.3.0
sqlite3_vendor                            : latest=0.26.6, local=0.26.6
rcl_logging_spdlog                        : latest=3.1.1, local=3.1.1
spdlog_vendor                             : latest=1.6.1, local=1.6.1
shared_queues_vendor                      : latest=0.26.6, local=0.26.6
rviz_rendering_tests                      : latest=14.1.8, local=14.1.7
rviz_rendering                            : latest=14.1.8, local=14.1.7
rviz_ogre_vendor                          : latest=14.1.8, local=14.1.7
rviz_assimp_vendor                        : latest=14.1.8, local=14.1.7
rttest                                    : latest=0.17.1, local=0.17.0
rti_connext_dds_cmake_module              : latest=0.22.1, local=0.22.1
lttngpy                                   : latest=8.2.3, local=8.2.3
rpyutils                                  : latest=0.4.1, local=0.4.1
rosidl_typesupport_tests                  : latest=N/A, local=3.2.2
rosidl_typesupport_introspection_tests    : latest=N/A, local=4.6.5
rosidl_typesupport_cpp                    : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_cpp      : latest=4.6.5, local=4.6.5
rosidl_typesupport_c                      : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_c        : latest=4.6.5, local=4.6.5
rosidl_typesupport_fastrtps_c             : latest=3.6.1, local=3.6.1
rosidl_typesupport_fastrtps_cpp           : latest=3.6.1, local=3.6.1
rosidl_generator_cpp                      : latest=4.6.5, local=4.6.5
rosidl_runtime_cpp                        : latest=4.6.5, local=4.6.5
rosidl_dynamic_typesupport_fastrtps       : latest=0.1.0, local=0.1.0
rcl_yaml_param_parser                     : latest=9.2.5, local=9.2.4
rmw                                       : latest=7.3.2, local=7.3.2
rosidl_dynamic_typesupport                : latest=0.1.2, local=0.1.2
rosidl_runtime_c                          : latest=4.6.5, local=4.6.5
rosidl_generator_c                        : latest=4.6.5, local=4.6.5
rosidl_typesupport_interface              : latest=4.6.5, local=4.6.5
rosidl_runtime_py                         : latest=0.13.1, local=0.13.1
rosidl_generator_dds_idl                  : latest=0.11.1, local=0.11.1
rosidl_cmake                              : latest=4.6.5, local=4.6.5
rosidl_pycommon                           : latest=4.6.5, local=4.6.5
rosidl_generator_type_description         : latest=4.6.5, local=4.6.5
rosidl_parser                             : latest=4.6.5, local=4.6.5
rosidl_generator_tests                    : latest=N/A, local=4.6.5
rosidl_adapter                            : latest=4.6.5, local=4.6.5
rosidl_cli                                : latest=4.6.5, local=4.6.5
rosbag2_tests                             : latest=0.26.6, local=0.26.6
rosbag2_test_msgdefs                      : latest=0.26.6, local=0.26.6
ros_environment                           : latest=4.2.1, local=4.2.1
rmw_implementation_cmake                  : latest=7.3.2, local=7.3.2
resource_retriever                        : latest=3.4.4, local=3.4.3
class_loader                              : latest=2.7.0, local=2.7.0
rcpputils                                 : latest=2.11.2, local=2.11.1
rcl_logging_noop                          : latest=3.1.1, local=3.1.1
rcl_logging_interface                     : latest=3.1.1, local=3.1.1
rcutils                                   : latest=6.7.2, local=6.7.2
qt_gui_py_common                          : latest=2.7.5, local=2.7.5
qt_dotgraph                               : latest=2.7.5, local=2.7.5
python_qt_binding                         : latest=2.2.1, local=2.2.1
python_orocos_kdl_vendor                  : latest=0.5.1, local=0.5.1
launch_testing_ament_cmake                : latest=3.4.4, local=3.4.3
python_cmake_module                       : latest=0.11.1, local=0.11.1
pybind11_vendor                           : latest=3.1.3, local=3.1.2
performance_test_fixture                  : latest=0.2.1, local=0.2.1
launch_pytest                             : latest=3.4.4, local=3.4.3
launch_testing                            : latest=3.4.4, local=3.4.3
launch_yaml                               : latest=3.4.4, local=3.4.3
launch_xml                                : latest=3.4.4, local=3.4.3
launch                                    : latest=3.4.4, local=3.4.3
osrf_pycommon                             : latest=2.1.6, local=2.1.5
orocos_kdl_vendor                         : latest=0.5.1, local=0.5.1
mimick_vendor                             : latest=0.6.2, local=0.6.2
libyaml_vendor                            : latest=1.6.3, local=1.6.3
liblz4_vendor                             : latest=0.26.6, local=0.26.6
libcurl_vendor                            : latest=3.4.4, local=3.4.3
keyboard_handler                          : latest=0.3.1, local=0.3.1
gz_math_vendor                            : latest=0.0.8, local=0.0.8
gz_utils_vendor                           : latest=0.0.5, local=0.0.5
gz_cmake_vendor                           : latest=0.0.9, local=0.0.9
ament_cmake_ros                           : latest=0.12.0, local=0.12.0
ament_cmake_auto                          : latest=2.5.3, local=2.5.3
ament_cmake_gmock                         : latest=2.5.3, local=2.5.3
ament_cmake_gtest                         : latest=2.5.3, local=2.5.3
ament_cmake_google_benchmark              : latest=2.5.3, local=2.5.3
fastrtps_cmake_module                     : latest=3.6.1, local=3.6.1
eigen3_cmake_module                       : latest=0.3.0, local=0.3.0
domain_coordinator                        : latest=0.12.0, local=0.12.0
console_bridge_vendor                     : latest=1.7.1, local=1.7.1
ament_cmake_xmllint                       : latest=0.17.2, local=0.17.1
ament_xmllint                             : latest=0.17.2, local=0.17.1
ament_cmake_pyflakes                      : latest=0.17.2, local=0.17.1
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   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.11.0-19-generic-x86_64-with-glibc2.39
release          : 6.11.0-19-generic
processor        : x86_64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : jazzy
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

Steps to reproduce issue

Environment

OS Version: Ubuntu 24.04
rviz version: ros2 jazzy
Compiler name and version number: Ubuntu clang version 18.1.3
Source or binary build?
source build
build options: --mixin asan-gcc

Description:

When calling the ScrewVisual constructor, if either scene_manager or parent_node is nullptr, the program crashes. The constructor does not perform a null pointer check for these input parameters, leading to a null pointer dereference error.

Test Case

#include <gmock/gmock.h>
#include <memory>
#include <OgreRoot.h>
#include <OgreSceneNode.h>
#include "../ogre_testing_environment.hpp"
#include "../scene_graph_introspection.hpp"
#include "rviz_rendering/objects/screw_visual.hpp"

using namespace ::testing;  // NOLINT

MATCHER_P(Vector3Eq, expected, "") {
  return Ogre::Math::Abs(expected.x - arg.x) < 0.0001f &&
         Ogre::Math::Abs(expected.y - arg.y) < 0.0001f &&
         Ogre::Math::Abs(expected.z - arg.z) < 0.0001f;
}
MATCHER_P(ColorEq, expected, "") {
  return Ogre::Math::Abs(expected.a - arg.a) < 0.0001f &&
         Ogre::Math::Abs(expected.r - arg.r) < 0.0001f &&
         Ogre::Math::Abs(expected.g - arg.g) < 0.0001f &&
         Ogre::Math::Abs(expected.b - arg.b) < 0.0001f;
}
MATCHER_P(QuaternionEq, expected, "") {
  return Ogre::Math::Abs(expected.x - arg.x) < 0.0001f &&
         Ogre::Math::Abs(expected.y - arg.y) < 0.0001f &&
         Ogre::Math::Abs(expected.z - arg.z) < 0.0001f &&
         Ogre::Math::Abs(expected.w - arg.w) < 0.0001f;
}

class ScrewVisualTestFixture : public ::testing::Test
{
protected:
  void SetUp() override
  {
    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
    testing_environment_->setUpOgreTestEnvironment();
  }
  std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
};

Ogre::SceneNode* findLinearArrow(Ogre::SceneNode* scene_node)
{
  auto arrows = rviz_rendering::findAllArrows(scene_node);
  auto billboard_line = rviz_rendering::findOneBillboardChain(scene_node);
  for (const auto& arrow : arrows) {
    if (billboard_line->getParentSceneNode()->getParent() != arrow->getParent()) {
      return arrow;
    }
  }
  return nullptr;
}

Ogre::SceneNode* findAngularArrow(Ogre::SceneNode* scene_node)
{
  auto arrows = rviz_rendering::findAllArrows(scene_node);
  auto billboard_line = rviz_rendering::findOneBillboardChain(scene_node);
  for (const auto& arrow : arrows) {
    if (billboard_line->getParentSceneNode()->getParent() == arrow->getParent()) {
      return arrow;
    }
  }
  return nullptr;
}

TEST_F(ScrewVisualTestFixture, HandleNullSceneManagerAndParentNode) {
  EXPECT_THROW(auto screw_visual = std::make_shared<rviz_rendering::ScrewVisual>(nullptr, nullptr), std::invalid_argument);
}

Output

Running main() from gmock_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ScrewVisualTestFixture
[ RUN      ] ScrewVisualTestFixture.HandleNullSceneManagerAndParentNode
[rviz_rendering:debug] Available Renderers(1): OpenGL Rendering Subsystem, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:289
[rviz_rendering:info] Stereo is NOT SUPPORTED, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:531
[rviz_rendering:info] OpenGl version: 4.3 (GLSL 4.3), at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:272
AddressSanitizer:DEADLYSIGNAL
=================================================================
==551531==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x7a96f9bbdf47 bp 0x7ffeea242800 sp 0x7ffeea242700 T0)
==551531==The signal is caused by a READ memory access.
==551531==Hint: address points to the zero page.
    #0 0x7a96f9bbdf47 in rviz_rendering::ScrewVisual::ScrewVisual(Ogre::SceneManager*, Ogre::SceneNode*) (/home/shangzh/ros2_jazzy/install/rviz_rendering/lib/librviz_rendering.so+0x3bdf47) (BuildId: cffd3d255d72a7634225ec0bbe57959441c23146)
    #1 0x56340d6a9e16 in void std::_Construct<rviz_rendering::ScrewVisual, decltype(nullptr), decltype(nullptr)>(rviz_rendering::ScrewVisual*, decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x2ae16) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #2 0x56340d6a9639 in std::_Sp_counted_ptr_inplace<rviz_rendering::ScrewVisual, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<decltype(nullptr), decltype(nullptr)>(std::allocator<void>, decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x2a639) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #3 0x56340d6a8e52 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rviz_rendering::ScrewVisual, std::allocator<void>, decltype(nullptr), decltype(nullptr)>(rviz_rendering::ScrewVisual*&, std::_Sp_alloc_shared_tag<std::allocator<void> >, decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x29e52) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #4 0x56340d6a8626 in std::__shared_ptr<rviz_rendering::ScrewVisual, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<void>, decltype(nullptr), decltype(nullptr)>(std::_Sp_alloc_shared_tag<std::allocator<void> >, decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x29626) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #5 0x56340d6a8125 in std::shared_ptr<rviz_rendering::ScrewVisual>::shared_ptr<std::allocator<void>, decltype(nullptr), decltype(nullptr)>(std::_Sp_alloc_shared_tag<std::allocator<void> >, decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x29125) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #6 0x56340d6a74b4 in std::shared_ptr<std::enable_if<!std::is_array<rviz_rendering::ScrewVisual>::value, rviz_rendering::ScrewVisual>::type> std::make_shared<rviz_rendering::ScrewVisual, decltype(nullptr), decltype(nullptr)>(decltype(nullptr)&&, decltype(nullptr)&&) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x284b4) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #7 0x56340d6a4d46 in ScrewVisualTestFixture_HandleNullSceneManagerAndParentNode_Test::TestBody() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x25d46) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #8 0x56340d747e07 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0xc8e07) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #9 0x56340d734f13 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0xb5f13) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #10 0x56340d6da639 in testing::Test::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x5b639) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #11 0x56340d6dbe15 in testing::TestInfo::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x5ce15) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #12 0x56340d6dd16e in testing::TestSuite::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x5e16e) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #13 0x56340d703e99 in testing::internal::UnitTestImpl::RunAllTests() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x84e99) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #14 0x56340d74b262 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0xcc262) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #15 0x56340d7381b0 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0xb91b0) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #16 0x56340d7004a3 in testing::UnitTest::Run() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x814a3) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #17 0x56340d6aa944 in RUN_ALL_TESTS() (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x2b944) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #18 0x56340d6aa890 in main (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x2b890) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)
    #19 0x7a96f7a2a1c9 in __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58
    #20 0x7a96f7a2a28a in __libc_start_main_impl ../csu/libc-start.c:360
    #21 0x56340d6a42b4 in _start (/home/shangzh/ros2_jazzy/build/rviz_rendering/screw_visual_test_target+0x252b4) (BuildId: 8481e6e1921d95bc91594aac6abeaaea97bb291c)

AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (/home/shangzh/ros2_jazzy/install/rviz_rendering/lib/librviz_rendering.so+0x3bdf47) (BuildId: cffd3d255d72a7634225ec0bbe57959441c23146) in rviz_rendering::ScrewVisual::ScrewVisual(Ogre::SceneManager*, Ogre::SceneNode*)
==551531==ABORTING

Expected behavior

The constructor should check for null pointers before using scene_manager and parent_node to ensure that the parameters are valid. If either parameter is nullptr, the constructor should return early or throw an appropriate exception to prevent the program from crashing.

Actual behavior

When nullptr is passed as a parameter, the program crashes, typically resulting in a null pointer dereference and undefined behavior.

Additional information

Suggested Fix

Add null pointer checks in the constructor:

ScrewVisual::ScrewVisual(Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node)
: linear_scale_(0.0f), angular_scale_(0.0f), width_(0.0f), hide_small_values_(true),
  scene_manager_(scene_manager)
{
  if (!scene_manager || !parent_node)
  {
    ROS_ERROR("Invalid input: scene_manager or parent_node is nullptr.");
    return;
  }
  // Continue normal execution
  frame_node_ = parent_node->createChildSceneNode();
  linear_node_ = frame_node_->createChildSceneNode();
  angular_node_ = frame_node_->createChildSceneNode();

  arrow_linear_ = std::make_unique<rviz_rendering::Arrow>(scene_manager_, linear_node_);
  arrow_angular_ = std::make_unique<rviz_rendering::Arrow>(scene_manager_, angular_node_);
  circle_angular_ = std::make_unique<rviz_rendering::BillboardLine>(scene_manager_, angular_node_);
  circle_arrow_angular_ = std::make_unique<rviz_rendering::Arrow>(scene_manager_, angular_node_);
}
@zhihaoshang zhihaoshang added the bug Something isn't working label Apr 7, 2025
@christophebedard christophebedard added the help wanted Extra attention is needed label Apr 7, 2025
@christophebedard
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That indeed looks like something that should be fixed. Would you be willing to submit a PR?

However, we may want to throw an exception in this case instead of just logging an error, because otherwise the object is left in a weird state.

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@christophebedard @zhihaoshang