crash with dynamic bridge #10
Comments
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I got a debug compilation backtrace: |
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It appears that the dynamic_bridge assumes that response names have '::' inside them. I modified it to skip those that don't and got this output: The modification below goes inside the main method of the generated dynamic_bridge.cpp: if (publisher_count) {
std::string suffix("Reply");
auto position = it.first.rfind(suffix);
if (position != std::string::npos && position == it.first.size() - suffix.size()) {
std::string & t = it.second;
std::string name(it.first.begin(), it.first.end() - suffix.size());
if (active_ros2_services.find(name) == active_ros2_services.end()) {
active_ros2_services[name] = std::map<std::string, std::string>();
}
auto colons = t.rfind("::");
auto rspnse = t.rfind("_Response_");
if (colons != std::string::npos && rspnse != std::string::npos) {
std::string srv(t.begin() + colons + 2, t.begin() + rspnse);
std::string pkg(t.begin(), t.begin() + colons);
active_ros2_services[name]["package"] = pkg;
active_ros2_services[name]["name"] = srv;
active_ros2_services[name]["response_topic"] = it.first;
active_ros2_services[name]["response_type"] = t;
}
else { std::cout << "Unsupported publisher: " << t << std::endl; }
} else {
ros2_publishers[it.first] = it.second;
}
}I guess I'm not sure if this is a bug with the dynamic_bridge or if the rmw_coredx is not following some generated-topic naming standard. |
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Hmm. OK. Those strings look like they might be the 'type' of request/reply topics. In CoreDX DDS, we tend to use the 'short' typename instead of fully-qualified typename for things like this. If ROS assumes/requires a fully-qualified typename here, then this might be the issue. I'll look into it a bit further... |
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I get a crash when running dynamic_bridge (only) with the coredx middleware. It appears to be an overrun of an array of strings. Not-so-helpful stacktrace:
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