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Fixed possible nullpointer segfault #95

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merged 2 commits into from
Aug 28, 2021
Merged

Fixed possible nullpointer segfault #95

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2f74aa6
Fixed possible nullpointer segfault
werner291 Jul 20, 2021
8fd2ac6
followup: safeguard more uses
v4hn Aug 11, 2021
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11 changes: 10 additions & 1 deletion src/moveit_visual_tools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1145,6 +1145,9 @@ bool MoveItVisualTools::publishContactPoints(const collision_detection::Collisio
bool MoveItVisualTools::publishTrajectoryPoint(const trajectory_msgs::JointTrajectoryPoint& trajectory_pt,
const std::string& planning_group, double display_time)
{
// Ensure robot_model_ is available
loadSharedRobotState();

// Get joint state group
const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group);

Expand All @@ -1171,6 +1174,9 @@ bool MoveItVisualTools::publishTrajectoryPoint(const trajectory_msgs::JointTraje
bool MoveItVisualTools::publishTrajectoryPath(const std::vector<moveit::core::RobotStatePtr>& trajectory,
const moveit::core::JointModelGroup* jmg, double speed, bool blocking)
{
// Ensure robot_model_ is available
loadSharedRobotState();

// Copy the vector of RobotStates to a RobotTrajectory
robot_trajectory::RobotTrajectoryPtr robot_trajectory(
new robot_trajectory::RobotTrajectory(robot_model_, jmg->getName()));
Expand Down Expand Up @@ -1249,6 +1255,9 @@ bool MoveItVisualTools::publishTrajectoryPath(const moveit_msgs::RobotTrajectory
return false;
}

// Ensure that the robot name is available.
loadSharedRobotState();

// Create the message
moveit_msgs::DisplayTrajectory display_trajectory_msg;
display_trajectory_msg.model_id = robot_model_->getName();
Expand Down Expand Up @@ -1546,7 +1555,7 @@ bool MoveItVisualTools::hideRobot()

void MoveItVisualTools::showJointLimits(const moveit::core::RobotStatePtr& robot_state)
{
const std::vector<const moveit::core::JointModel*>& joints = robot_model_->getActiveJointModels();
const std::vector<const moveit::core::JointModel*>& joints = robot_state->getRobotModel()->getActiveJointModels();

// Loop through joints
for (std::size_t i = 0; i < joints.size(); ++i)
Expand Down