dynamic casting no-sense

[mhernando]

I'm using your code as base of a robot specific plugin. I've realized that you are doing a share_ptr dynamic conversion between BasePtr and ModelPtr. I think you have to avoid that. It generates dangerous memory issues.

I think you sould change:
"""
physics::BasePtr b1 = this->world->ModelByName(model1);

if (b1 == NULL){
  ROS_ERROR_STREAM(model1 << " model was not found");
  return false;
}

ROS_DEBUG_STREAM("Casting into ModelPtr");
physics::ModelPtr m1(dynamic_cast<physics::Model*>(b1.get()));
j.m1 = m1;

"""
Directly to
"""
physics::ModelPtr m1 = this->world->ModelByName(model1);
if(!m1){ROS_ERROR_STREAM(model1 << " model was not found");
return false;
"""

If you do not have a list of attached joints, the pluging would delete the module, because of the BasePtr shared_pointer.

[awesomebytes]

Hello Miguel, Feel free to file a PR with the change if it works the same for you :) I won't be able to look into it up until the end of August as I'm finishing my thesis. But I'm keen to improve it! When I wrote this plugin I lacked (not that I do know much more now) a lot of understanding about how the Gazebo plugin system worked. And I needed something hacky that worked. I'm sorry if the quality of the code offended you!

…

On Thu, Jul 30, 2020, 22:48 Miguel Hernando ***@***.***> wrote: I'm using your code as base of a robot specific plugin. I've realized that you are doing a share_ptr dynamic conversion between BasePtr and ModelPtr. I think you have to avoid that. It generates dangerous memory issues. I think you sould change: """ physics::BasePtr b1 = this->world->ModelByName(model1); if (b1 == NULL){ ROS_ERROR_STREAM(model1 << " model was not found"); return false; } ROS_DEBUG_STREAM("Casting into ModelPtr"); physics::ModelPtr m1(dynamic_cast<physics::Model*>(b1.get())); j.m1 = m1; """ Directly to """ physics::ModelPtr m1 = this->world->ModelByName(model1); if(!m1){ROS_ERROR_STREAM(model1 << " model was not found"); return false; """ If you do not have a list of attached joints, the pluging would delete the module, because of the BasePtr shared_pointer. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#13>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AANEK5CLVO57KXLGBSWM7FLR6FT2LANCNFSM4PNVNXSQ> .