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UAF bug caused by laser_callback() #694

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GoesM opened this issue Apr 27, 2024 · 4 comments
Open

UAF bug caused by laser_callback() #694

GoesM opened this issue Apr 27, 2024 · 4 comments

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@GoesM
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GoesM commented Apr 27, 2024

Required Info:

  • Operating System:
    • Ubuntu 22.04
  • Installation type:
    • source
  • ROS Version
    • ROS2-humble
  • Version or commit hash:
    • the latest
  • Laser unit:
    • defaulted

Steps to reproduce issue

I use slam-toolbox (async) by following command :

#!/bin/bash
export ASAN_OPTIONS=halt_on_error=0:new_delete_type_mismatch=0:detect_leaks=0:log_path=asan
source install/setup.bash
ros2 launch slam_toolbox online_async_launch.py

Running Slam-Toolbox within AddressSanitizer , I always faced to such UAF report during shutdown-period

Expected behavior

No UAF occurs

Actual behavior

we could always face to an ASAN-report about UAF bug as following:

=================================================================
==18319==ERROR: AddressSanitizer: heap-use-after-free on address 0x6060000736b8 at pc 0x7605a1e5f0d5 bp 0x76058f4c8340 sp 0x76058f4c8338
READ of size 8 at 0x6060000736b8 thread T20
    #0 0x7605a1e5f0d4 in std::_Rb_tree<karto::Name, std::pair<karto::Name const, karto::Sensor*>, std::_Select1st<std::pair<karto::Name const, karto::Sensor*> >, std::less<karto::Name>, std::allocator<std::pair<karto::Name const, karto::Sensor*> > >::find(karto::Name const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x65f0d4) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #1 0x7605a1e5ec16 in karto::SensorManager::GetSensorByName(karto::Name const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x65ec16) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #2 0x76059d6a9d28 in karto::GridIndexLookup<unsigned char>::ComputeOffsets(karto::LocalizedRangeScan*, double, double, double) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libkartoSlamToolbox.so+0x4a9d28) (BuildId: 438116af7e8121c8d8c716f02dee888c7979effe)
    #3 0x76059d65afb3 in karto::ScanMatcher::CorrelateScan(karto::LocalizedRangeScan*, karto::Pose2 const&, karto::Vector2<double> const&, karto::Vector2<double> const&, double, double, bool, karto::Pose2&, karto::Matrix3&, bool) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libkartoSlamToolbox.so+0x45afb3) (BuildId: 438116af7e8121c8d8c716f02dee888c7979effe)
    #4 0x76059d6ad3bf in double karto::ScanMatcher::MatchScan<std::vector<karto::LocalizedRangeScan*, std::allocator<karto::LocalizedRangeScan*> > >(karto::LocalizedRangeScan*, std::vector<karto::LocalizedRangeScan*, std::allocator<karto::LocalizedRangeScan*> > const&, karto::Pose2&, karto::Matrix3&, bool, bool) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libkartoSlamToolbox.so+0x4ad3bf) (BuildId: 438116af7e8121c8d8c716f02dee888c7979effe)
    #5 0x76059d6776c7 in karto::Mapper::Process(karto::LocalizedRangeScan*, karto::Matrix3*) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libkartoSlamToolbox.so+0x4776c7) (BuildId: 438116af7e8121c8d8c716f02dee888c7979effe)
    #6 0x7605a1dfa61a in slam_toolbox::SlamToolbox::addScan(karto::LaserRangeFinder*, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, karto::Pose2&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x5fa61a) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #7 0x7605a2ab0c89 in slam_toolbox::AsynchronousSlamToolbox::laserCallback(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libasync_slam_toolbox.so+0xb3c89) (BuildId: ab3d6662343414a1ceb1f167a59faeabcec8089b)
    #8 0x7605a200c7b1 in void std::__invoke_impl<void, void (slam_toolbox::SlamToolbox::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), slam_toolbox::SlamToolbox*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(std::__invoke_memfun_deref, void (slam_toolbox::SlamToolbox::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), slam_toolbox::SlamToolbox*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x80c7b1) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #9 0x7605a200bed2 in message_filters::CallbackHelper1T<std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, bool) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x80bed2) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #10 0x7605a1fa434b in message_filters::Signal1<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x7a434b) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #11 0x7605a2003cba in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::transformReadyCallback(tf2_ros::TransformStampedFuture const&, unsigned long) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x803cba) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #12 0x7605a20083ce in std::_Function_handler<void (tf2_ros::TransformStampedFuture const&), std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>, unsigned long))(tf2_ros::TransformStampedFuture const&, unsigned long)> >::_M_invoke(std::_Any_data const&, tf2_ros::TransformStampedFuture const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x8083ce) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #13 0x7605a2953e8d  (/opt/ros/humble/lib/libtf2_ros.so+0x4fe8d) (BuildId: dceacb25e05c8a82678784802b23fb16ba98d172)
    #14 0x76059f94a65e in tf2::BufferCore::testTransformableRequests() (/opt/ros/humble/lib/libtf2.so+0x1065e) (BuildId: 5677f8e557cfe0980662adcc0a17f03987f8b7f1)
    #15 0x76059f94d3fa in tf2::BufferCore::setTransformImpl(tf2::Transform const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) (/opt/ros/humble/lib/libtf2.so+0x133fa) (BuildId: 5677f8e557cfe0980662adcc0a17f03987f8b7f1)
    #16 0x76059f94db29 in tf2::BufferCore::setTransform(geometry_msgs::msg::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) (/opt/ros/humble/lib/libtf2.so+0x13b29) (BuildId: 5677f8e557cfe0980662adcc0a17f03987f8b7f1)
    #17 0x7605a295cbb0 in tf2_ros::TransformListener::subscription_callback(std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>, bool) (/opt/ros/humble/lib/libtf2_ros.so+0x58bb0) (BuildId: dceacb25e05c8a82678784802b23fb16ba98d172)
    #18 0x7605a159f1c9 in std::_Function_handler<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>), std::_Bind<void (tf2_ros::TransformListener::* (tf2_ros::TransformListener*, std::_Placeholder<1>, bool))(std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>, bool)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>&&) (/opt/ros/humble/lib/librviz_default_plugins.so+0x79f1c9) (BuildId: 9da6509995fc2c916736fdd2d61b58739854b36d)
    #19 0x7605a15ae031 in std::__detail::__variant::__gen_vtable_impl<std::__detail::__variant::_Multi_array<std::__detail::__variant::__deduce_visit_result<void> (*)(rclcpp::AnySubscriptionCallback<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >, rclcpp::MessageInfo const&)::'lambda'(auto&&)&&, std::variant<std::function<void (tf2_msgs::msg::TFMessage_<std::allocator<void> > const&)>, std::function<void (tf2_msgs::msg::TFMessage_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::default_delete<tf2_msgs::msg::TFMessage_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::default_delete<tf2_msgs::msg::TFMessage_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)>, std::integer_sequence<unsigned long, 8ul> >::__visit_invoke(rclcpp::AnySubscriptionCallback<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >, rclcpp::MessageInfo const&)::'lambda'(auto&&)&&, std::variant<std::function<void (tf2_msgs::msg::TFMessage_<std::allocator<void> > const&)>, std::function<void (tf2_msgs::msg::TFMessage_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::default_delete<tf2_msgs::msg::TFMessage_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> >, std::default_delete<tf2_msgs::msg::TFMessage_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<tf2_msgs::msg::TFMessage_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&) (/opt/ros/humble/lib/librviz_default_plugins.so+0x7ae031) (BuildId: 9da6509995fc2c916736fdd2d61b58739854b36d)
    #20 0x7605a15b4942  (/opt/ros/humble/lib/librviz_default_plugins.so+0x7b4942) (BuildId: 9da6509995fc2c916736fdd2d61b58739854b36d)
    #21 0x76059d0f07bb in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (/opt/ros/humble/lib/librclcpp.so+0xe77bb) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
    #22 0x76059d0f0fbe in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) (/opt/ros/humble/lib/librclcpp.so+0xe7fbe) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
    #23 0x76059d0f88af in rclcpp::executors::SingleThreadedExecutor::spin() (/opt/ros/humble/lib/librclcpp.so+0xef8af) (BuildId: 4cca8a387f3c93d38a0567a8efc7cba9106f5d9a)
    #24 0x76059c4dc252  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc252) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
    #25 0x76059c094ac2 in start_thread nptl/./nptl/pthread_create.c:442:8
    #26 0x76059c12684f  misc/../sysdeps/unix/sysv/linux/x86_64/clone3.S:81

0x6060000736b8 is located 24 bytes inside of 56-byte region [0x6060000736a0,0x6060000736d8)
freed by thread T0 here:
    #0 0x5a96964dfb5d in operator delete(void*) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/slam_toolbox/async_slam_toolbox_node+0x17fb5d) (BuildId: 25c5d29166b39455dc07d15264c602c467187757)
    #1 0x76059c045494 in __run_exit_handlers stdlib/./stdlib/exit.c:113:8

previously allocated by thread T20 here:
    #0 0x5a96964df2fd in operator new(unsigned long) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/slam_toolbox/async_slam_toolbox_node+0x17f2fd) (BuildId: 25c5d29166b39455dc07d15264c602c467187757)
    #1 0x76059d5c347b in karto::SensorManager::GetInstance() (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libkartoSlamToolbox.so+0x3c347b) (BuildId: 438116af7e8121c8d8c716f02dee888c7979effe)
    #2 0x7605a1df54af in slam_toolbox::SlamToolbox::getLaser(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x5f54af) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #3 0x7605a2ab0c35 in slam_toolbox::AsynchronousSlamToolbox::laserCallback(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libasync_slam_toolbox.so+0xb3c35) (BuildId: ab3d6662343414a1ceb1f167a59faeabcec8089b)
    #4 0x7605a200c7b1 in void std::__invoke_impl<void, void (slam_toolbox::SlamToolbox::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), slam_toolbox::SlamToolbox*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&>(std::__invoke_memfun_deref, void (slam_toolbox::SlamToolbox::*&)(std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const>), slam_toolbox::SlamToolbox*&, std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x80c7b1) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #5 0x7605a200bed2 in message_filters::CallbackHelper1T<std::shared_ptr<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&, bool) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x80bed2) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #6 0x7605a1fa434b in message_filters::Signal1<sensor_msgs::msg::LaserScan_<std::allocator<void> > >::call(message_filters::MessageEvent<sensor_msgs::msg::LaserScan_<std::allocator<void> > const> const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x7a434b) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #7 0x7605a2003cba in tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::transformReadyCallback(tf2_ros::TransformStampedFuture const&, unsigned long) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x803cba) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #8 0x7605a20083ce in std::_Function_handler<void (tf2_ros::TransformStampedFuture const&), std::_Bind<void (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>::* (tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> >, tf2_ros::Buffer>*, std::_Placeholder<1>, unsigned long))(tf2_ros::TransformStampedFuture const&, unsigned long)> >::_M_invoke(std::_Any_data const&, tf2_ros::TransformStampedFuture const&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x8083ce) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #9 0x7605a2953e8d  (/opt/ros/humble/lib/libtf2_ros.so+0x4fe8d) (BuildId: dceacb25e05c8a82678784802b23fb16ba98d172)
    #10 0x76058f4cd91f  (<unknown module>)

Thread T20 created by T0 here:
    #0 0x5a969648d9ac in __interceptor_pthread_create (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/slam_toolbox/async_slam_toolbox_node+0x12d9ac) (BuildId: 25c5d29166b39455dc07d15264c602c467187757)
    #1 0x76059c4dc328 in std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc328) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
    #2 0x7605a1e4165b in std::__detail::_MakeUniq<tf2_ros::TransformListener>::__single_object std::make_unique<tf2_ros::TransformListener, tf2_ros::Buffer&>(tf2_ros::Buffer&) (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x64165b) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #3 0x7605a1de5775 in slam_toolbox::SlamToolbox::configure() (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x5e5775) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1)
    #4 0x5a96964e2308 in main (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/slam_toolbox/async_slam_toolbox_node+0x182308) (BuildId: 25c5d29166b39455dc07d15264c602c467187757)
    #5 0x76059c029d8f in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16

SUMMARY: AddressSanitizer: heap-use-after-free (/home/****/slam_toolbox_humble_fork/install/slam_toolbox/lib/libtoolbox_common.so+0x65f0d4) (BuildId: a965c84ea396d1a224891c94c234cfed672c2bd1) in std::_Rb_tree<karto::Name, std::pair<karto::Name const, karto::Sensor*>, std::_Select1st<std::pair<karto::Name const, karto::Sensor*> >, std::less<karto::Name>, std::allocator<std::pair<karto::Name const, karto::Sensor*> > >::find(karto::Name const&)
Shadow bytes around the buggy address:
  0x0c0c80006680: 00 00 00 00 00 00 00 fa fa fa fa fa 00 00 00 00
  0x0c0c80006690: 00 00 00 fa fa fa fa fa 00 00 00 00 00 00 00 fa
  0x0c0c800066a0: fa fa fa fa 00 00 00 00 00 00 00 fa fa fa fa fa
  0x0c0c800066b0: 00 00 00 00 00 00 00 fa fa fa fa fa fd fd fd fd
  0x0c0c800066c0: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
=>0x0c0c800066d0: fa fa fa fa fd fd fd[fd]fd fd fd fa fa fa fa fa
  0x0c0c800066e0: fd fd fd fd fd fd fd fd fa fa fa fa 00 00 00 00
  0x0c0c800066f0: 00 00 00 fa fa fa fa fa 00 00 00 00 00 00 00 fa
  0x0c0c80006700: fa fa fa fa fd fd fd fd fd fd fd fd fa fa fa fa
  0x0c0c80006710: fd fd fd fd fd fd fd fd fa fa fa fa fd fd fd fd
  0x0c0c80006720: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
Shadow byte legend (one shadow byte represents 8 application bytes):
  Addressable:           00
  Partially addressable: 01 02 03 04 05 06 07 
  Heap left redzone:       fa
  Freed heap region:       fd
  Stack left redzone:      f1
  Stack mid redzone:       f2
  Stack right redzone:     f3
  Stack after return:      f5
  Stack use after scope:   f8
  Global redzone:          f9
  Global init order:       f6
  Poisoned by user:        f7
  Container overflow:      fc
  Array cookie:            ac
  Intra object redzone:    bb
  ASan internal:           fe
  Left alloca redzone:     ca
  Right alloca redzone:    cb
==18319==ABORTING

Additional information

the function laserCallback() is bind to the scan_filter_sub_ and scan_filter_ as following:

slam_toolbox/src/slam_toolbox_common.cpp

Lines 233 to 241 in 94cec98

scan_filter_sub_ =
std::make_unique<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>(
shared_from_this().get(), scan_topic_, rmw_qos_profile_sensor_data);
scan_filter_ =
std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
*scan_filter_sub_, *tf_, odom_frame_, scan_queue_size_, shared_from_this(),
tf2::durationFromSec(transform_timeout_.seconds()));
scan_filter_->registerCallback(
std::bind(&SlamToolbox::laserCallback, this, std::placeholders::_1));

but here's no reset() for such two pointer in the destructor

slam_toolbox/src/slam_toolbox_common.cpp

Lines 85 to 101 in 94cec98

/*****************************************************************************/
SlamToolbox::~SlamToolbox()
/*****************************************************************************/
{
for (int i = 0; i != threads_.size(); i++) {
threads_[i]->join();
}
smapper_.reset();
dataset_.reset();
closure_assistant_.reset();
map_saver_.reset();
pose_helper_.reset();
laser_assistant_.reset();
scan_holder_.reset();
solver_.reset();
}

So that, the callback-function might be still working after the node is destructed and cause the UAF bug as a result.
@GoesM
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GoesM commented Apr 27, 2024

well, it seems that such issue has been fixed in ros2 branch :

slam_toolbox/src/slam_toolbox_common.cpp

Lines 240 to 260 in a3442d2

SlamToolbox::~SlamToolbox()
/*****************************************************************************/
{
for (int i = 0; i != threads_.size(); i++) {
threads_[i]->interrupt();
threads_[i]->join();
threads_[i].reset();
}
threads_.clear();
smapper_.reset();
dataset_.reset();
closure_assistant_.reset();
map_saver_.reset();
pose_helper_.reset();
laser_assistant_.reset();
scan_holder_.reset();
solver_.reset();
scan_filter_.reset();
scan_filter_sub_.reset();

but no such code to reset these pointers in both iron and humble branch.

@SteveMacenski
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Feel free to backport, happy to merge that for humble/iron

@GoesM GoesM mentioned this issue Jun 28, 2024
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@GoesM
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GoesM commented Jun 28, 2024 •
edited
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Shall I backport by cherry-pick ? 🤔 I think the past commit for this issue would change humble a lot:

de13553

@SteveMacenski
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I'd try cherry-pick, but if it looks too hard, I understand manual for this case.

@SteveMacenski SteveMacenski reopened this Jun 28, 2024
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