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Fix seg fault with attached objects during motion execution #3466

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Merged
merged 6 commits into from
May 12, 2025
Merged

Fix seg fault with attached objects during motion execution #3466

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4c1805d
Fix seg fault with attached objects during motion execution
MarqRazz May 6, 2025
d0a5149
fix sign-compare warning
MarqRazz May 6, 2025
727866f
use unique RobotState to keep raw pointers valid
MarqRazz May 6, 2025
d5ef5db
pre-commit
MarqRazz May 6, 2025
97d1a1e
missed one
MarqRazz May 6, 2025
598dd30
declare waypoint_state outside loop
MarqRazz May 12, 2025
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6 changes: 4 additions & 2 deletions moveit_core/robot_state/src/robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1217,14 +1217,16 @@ void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bo
attached_bodies.clear();
attached_bodies.reserve(attached_body_map_.size());
for (const auto& it : attached_body_map_)
attached_bodies.push_back(it.second.get());
if (it.second)
attached_bodies.push_back(it.second.get());
}

void RobotState::getAttachedBodies(std::map<std::string, const AttachedBody*>& attached_bodies) const
{
attached_bodies.clear();
for (const auto& it : attached_body_map_)
attached_bodies[it.first] = it.second.get();
if (it.second && !it.first.empty())
attached_bodies[it.first] = it.second.get();
}

void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const JointModelGroup* group) const
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8 changes: 5 additions & 3 deletions moveit_ros/planning/plan_execution/src/plan_execution.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,7 +286,8 @@ bool plan_execution::PlanExecution::isRemainingPathValid(const ExecutableMotionP
moveit::core::RobotState state = plan.planning_scene->getCurrentState();
std::map<std::string, const moveit::core::AttachedBody*> current_attached_objects, waypoint_attached_objects;
state.getAttachedBodies(current_attached_objects);
waypoint_attached_objects = plan_components_attached_objects_[path_segment.first];
if (plan_components_attached_objects_.size() > static_cast<size_t>(path_segment.first))
waypoint_attached_objects = plan_components_attached_objects_[path_segment.first];
for (std::size_t i = std::max(path_segment.second - 1, 0); i < wpc; ++i)
{
collision_detection::CollisionResult res;
Expand Down Expand Up @@ -469,7 +470,7 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
{
const auto& trajectory = component.trajectory;
std::map<std::string, const moveit::core::AttachedBody*> trajectory_attached_objects;
if (trajectory)
if (trajectory && trajectory->getWayPointCount() > 0)
{
std::map<std::string, const moveit::core::AttachedBody*> attached_objects;
trajectory->getWayPoint(0).getAttachedBodies(trajectory_attached_objects);
Expand All @@ -483,7 +484,8 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
}
}
}
plan_components_attached_objects_.push_back(trajectory_attached_objects);
if (trajectory_attached_objects.size() > 0)
plan_components_attached_objects_.push_back(trajectory_attached_objects);
}

while (rclcpp::ok() && !execution_complete_ && !path_became_invalid_)
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