Fix and tests for Validate Message Fields in Subscriptions for Sane & Well Populated Values #5610 (#5631)

Signed-off-by: MaciejGroszyk <maciekgroszyk12@gmail.com>

Author: MaciejGroszyk

nav2_ros_common/include/nav2_ros_common/validate_messages.hpp

@@ -169,6 +169,20 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
   if (msg.data.size() != msg.info.width * msg.info.height) {
     return false;                                                          // check map-size
   }
+
+  if (msg.info.width > INT16_MAX || msg.info.height > INT16_MAX) {
+    // avoid overflow in nav2_amcl::convertMap()
+    // because map_t size_x and size_y are int
+    return false;
+  }
+
+  uint32_t num_cells;
+  if (__builtin_mul_overflow(msg.info.width, msg.info.height, &num_cells)) {
+    // avoid overflow msg.info.width * msg.info.height in nav2_amcl::convertMap()
+    return false;
+  }
+
+
   return true;
 }
 

nav2_ros_common/test/test_validation_messages.cpp

@@ -242,6 +242,30 @@ TEST(ValidateMessagesTest, OccupancyGridCheck) {
   std::vector<int8_t> invalid_data(100 * 99, 0);   // Incorrect data size
   invalid_occupancy_grid.data = invalid_data;
   EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));
+
+  // Test overflow uint32_t OccupancyGrid message
+  invalid_occupancy_grid.header.frame_id = "map";
+  invalid_occupancy_grid.info.resolution = 0.05;
+  invalid_occupancy_grid.info.width = 65536;
+  invalid_occupancy_grid.info.height = 65536;
+  invalid_occupancy_grid.data = data;
+  EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));
+
+  // Test overflow INT16_MAX OccupancyGrid message
+  invalid_occupancy_grid.header.frame_id = "map";
+  invalid_occupancy_grid.info.resolution = 0.05;
+  invalid_occupancy_grid.info.width = INT16_MAX + 1;
+  invalid_occupancy_grid.info.height = 100;
+  invalid_occupancy_grid.data = data;
+  EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));
+
+  // Test overflow INT16_MAX OccupancyGrid message
+  invalid_occupancy_grid.header.frame_id = "map";
+  invalid_occupancy_grid.info.resolution = 0.05;
+  invalid_occupancy_grid.info.width = 100;
+  invalid_occupancy_grid.info.height = INT16_MAX + 1;
+  invalid_occupancy_grid.data = data;
+  EXPECT_FALSE(nav2::validateMsg(invalid_occupancy_grid));
 }
 
 TEST(ValidateMessagesTest, PoseWithCovarianceCheck) {