Crash if throwing buffer too short exception

[mortenfyhn]

Hey guys, we noticed that the broker crashes because of an unhandled exception if IMC::BufferTooShort gets thown. The TCP buffers in TcpLink.hpp are 1024 bytes long, and messages with a rawdata field (vector of char in C++) can easily exceed this. That throws IMC::BufferTooShort, which is not caught, so the broker crashes.

Here's a minimal working example node implementation that triggers the crash:

#include <ros/ros.h>
#include <ros_imc_broker/ImcTypes.hpp>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "broker_bug");
    ros::NodeHandle nh;
    ros::Publisher pub =
        nh.advertise<IMC::UASimulation>("/IMC/Out/UASimulation", 1);

    ros::Rate rate(1);
    while (ros::ok())
    {
        IMC::UASimulation msg;
        msg.data = std::vector<char>(1000);
        pub.publish(msg);
    }
}

and I'll upload a zip with the whole MWE ros package, with CMakeLists, launch file, etc:

broker_bug.zip

The desired behaviour is I suppose to print an error message or something such and carry on.

[josebraga]

Hi Morten, is it possible you have you a PR ready to go?

[mortenfyhn]

I've only made a "fix the symptom not the problem" solution by making the buffer larger by now, but I can fix a proper PR soon.