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fix(pose_instability_detector): fix a rare error #7681
fix(pose_instability_detector): fix a rare error #7681
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Signed-off-by: Shintaro Sakoda <[email protected]>
Signed-off-by: Shintaro Sakoda <[email protected]>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7681 +/- ##
===========================================
- Coverage 14.84% 12.82% -2.03%
===========================================
Files 1999 34 -1965
Lines 139163 2043 -137120
Branches 43716 201 -43515
===========================================
- Hits 20661 262 -20399
+ Misses 95731 1768 -93963
+ Partials 22771 13 -22758
☔ View full report in Codecov by Sentry. |
@SakodaShintaro could you rebase to the latest main? I want to see if the fix on comment-on-pr workflow issue is fixed. |
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After all, I think the dead reckon process should be skipped when the time of latest and prev is same, and publish a WARN diagnostics. (And then I believe the size of result_deque will be always be > 2.)
But I will mark that as a TODO for me, and I can approve the cpp part.
Can you take a look to my comment in the test part? 🙏
Signed-off-by: Shintaro Sakoda <[email protected]>
Signed-off-by: Shintaro Sakoda <[email protected]>
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LGTM! 👍
a81e1f7
into
autowarefoundation:main
…7681) * Added an error test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed the test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed test Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]>
…7681) * Added an error test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed the test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed test Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]>
…7681) * Added an error test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed the test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed test Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: palas21 <[email protected]>
…7681) * Added an error test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed the test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed test Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]>
* Added an error test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed the test case Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed test Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]>
Description
In
pose_instability_detector
, a bug has been fixed that in rare abnormal cases, it may access to outside the queue size and crash, or it may show abnormal values.I have added test cases that cause this, and I have confirmed that it fails probabilistically if it is not fixed.
Since accessing outside the range is undefined behavior, it does not necessarily always fail.
By making a modification of pose_instability_detector.cpp, the test will no longer fail even after 100 consecutive attempts.
Related links
None.
How was this PR tested?
The following script was used.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.