fix(lanelet2_extension): invalid access

[shmpwk]

Description

This PR prevents getLineStringFromArcLength from SIGSEGV.
When linestring.size() is 0, linestring.size() - 1 can be inf becauselinestring.size() is unsigned .

autoware_common/tmp/lanelet2_extension/lib/utilities.cpp

Line 219 in 0dbf93e

for (size_t i = 0; i < linestring.size() - 1; i++) {

As a result, linestring[i] can be invalid access.

autoware_common/tmp/lanelet2_extension/lib/utilities.cpp

Line 220 in 0dbf93e

const auto & p1 = linestring[i];

Related links

TIER IV internal slack

Tests performed

We can reproduce this problem.

1. Download internal rosbag data.
   rosbag0
   rosbag1
   rosbag2
   rosbag3

2. Prepare environment of pilo-auto.xx1:v0.43.6.0.

3. Execute ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/odaiba_beta vehicle_model:=jpntaxi sensor_model:=aip_xx1 localization:=false perception:=false

4. After launching Step3, play the rosbag from 0 to 3 one by one with remmaping planning topic.
   ./play_bag_without_planning.sh <rosbag>

#!/bin/bash
# play_bag_without_planning.sh

BAG_NAME=$1
PLANNING_TOPIC=$(ros2 bag info $BAG_NAME | awk '{print $2}' | grep planning | grep -v mission_planning)

COMMAND_OPTION='--remap '
for i in ${PLANNING_TOPIC[@]}; do
    TARGET_PLANNING_TOPIC=$i
    RENAMED_TARGET_PLANNING_TOPIC=$(echo $TARGET_PLANNING_TOPIC | sed 's/\/planning/\/tmp\/planning/g')
    COMMAND_OPTION=$COMMAND_OPTION' '$TARGET_PLANNING_TOPIC':='$RENAMED_TARGET_PLANNING_TOPIC
done

ros2 bag play $BAG_NAME $COMMAND_OPTION --clock  -s sqlite3

5. At the last time, there is SIGSEGV. Also I confirmed linestring.size() - 1 is 18446744073709551615.

[component_container_mt-44] *** Aborted at 1709478740 (unix time) try "date -d @1709478740" if you are using GNU date ***
[component_container_mt-44] PC: @                0x0 (unknown)
[component_container_mt-44] *** SIGSEGV (@0x10) received by PID 315075 (TID 0x7f41daffd640) from PID 16; stack trace: ***
[component_container_mt-44]     @     0x7f41d805d046 (unknown)
[component_container_mt-44]     @     0x7f41f7842520 (unknown)
[component_container_mt-44]     @     0x7f41ec33aa6b lanelet::utils::(anonymous namespace)::getLineStringFromArcLength()
[component_container_mt-44]     @     0x7f41ec33ca73 lanelet::utils::getPolygonFromArcLength()
[component_container_mt-44]     @     0x7f41d9cd61fe behavior_path_planner::NormalLaneChange::getLaneChangePaths()
[component_container_mt-44]     @     0x7f41d9ccd39c behavior_path_planner::NormalLaneChange::getSafePath()
[component_container_mt-44]     @     0x7f41d9cccca9 behavior_path_planner::NormalLaneChange::updateLaneChangeStatus()
[component_container_mt-44]     @     0x7f41d9b23626 behavior_path_planner::PlannerManager::getRequestModules()
[component_container_mt-44]     @     0x7f41d9b29042 _ZZN21behavior_path_planner14PlannerManager3runERKSt10shared_ptrINS_11PlannerDataEEENKUlvE0_clEv
[component_container_mt-44]     @     0x7f41d9b2996c behavior_path_planner::PlannerManager::run()
[component_container_mt-44]     @     0x7f41d9b5d33b behavior_path_planner::BehaviorPathPlannerNode::run()
[component_container_mt-44]     @     0x7f41d9b65965 rclcpp::GenericTimer<>::execute_callback()
[component_container_mt-44]     @     0x7f41f815effe rclcpp::Executor::execute_any_executable()
[component_container_mt-44]     @     0x7f41f8165432 rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-44]     @     0x7f41f7cdc253 (unknown)
[component_container_mt-44]     @     0x7f41f7894ac3 (unknown)
[component_container_mt-44]     @     0x7f41f7926850 (unknown)
[component_container_mt-44]     @                0x0 (unknown)
[component_container_mt-27] [ERROR] [1709478740.785274785] [pcl_ros]: Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.
[ERROR] [component_container_mt-44]: process has died [pid 315075, exit code -11, cmd '/home/shmpwk/xx1/pilot-auto.xx1.v0.43.6.0/install/rclcpp_components/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=True -p wheel_radius:=0.31 -p wheel_width:=0.18 -p wheel_base:=2.75 -p wheel_tread:=1.485 -p front_overhang:=0.8 -p rear_overhang:=0.85 -p left_overhang:=0.105 -p right_overhang:=0.105 -p vehicle_height:=2.5 -p max_steer_angle:=0.55'].

With this PR, I confirmed there is no SIGSEGV.

Notes for reviewers

N/A

Interface changes

N/A

Effects on system behavior

Fix bug

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[takayuki5168]

Can I ask for more detail about how the node side will behave with this change?
I'm curious about whether the node side will work well with lanelet::Invalid.

[shmpwk]

I didn't check how the node behaves actually. But at least this function always returns lanelet::LineString3d{lanelet::InvalId, points}; and I think lanelet::Invalid has no problem.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 10.46%. Comparing base (7c55915) to head (0dbf93e).

Files	Patch %	Lines
tmp/lanelet2_extension/lib/utilities.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #240      +/-   ##
==========================================
- Coverage   10.46%   10.46%   -0.01%     
==========================================
  Files          42       42              
  Lines        3152     3154       +2     
  Branches     1407     1409       +2     
==========================================
  Hits          330      330              
- Misses       2395     2396       +1     
- Partials      427      428       +1     

Flag	Coverage Δ		*Carryforward flag
differential	8.13% <0.00%> (?)
total	10.46% <ø> (ø)		Carriedforward from 7c55915

*This pull request uses carry forward flags. Click here to find out more.

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[soblin]

This function should return optional instead of InvalId with empty points, and for more strict handling, we should force the callee side to pass linestring with more than 2 points in the future.