GoesM

opps .... So sorry for that many weird things happened after rebase, hoping it's the final change ....

still failed in `nav2_behavior_tree` , I reviewed the dependencies of nav2_behavior_tree, and it appears that it does not depend on any of the packages I modified. SO I feel this...

> I triggered one more time I notice that it still failed in nav2_behavior_tree. 😵 > but a few issues to resolve here Shall I create another fork and submit...

@richie-live I'm not very sure. I think Jazzy is the latest version so it may face to many confused issues ? I am using ROS-humble, Ubuntu 22.04.

Thank you for your patient reply! > I know you've uncovered a few issues like this before with fuzzing resulting in #4005 - I think this is adjacent to that?...

I've updated some conditions in validateMsg(), but I've encountered a few details that need addressing. I'll take some time to figure out how to resolve them. However, I'll go ahead...

# About the **time-stamp** of map message ### current code for updating the time-stamp https://github.com/ros-planning/navigation2/blob/0be2f25782413677fedc58ea090c6ecfa8b9a6b8/nav2_map_server/src/map_server/map_server.cpp#L243-L248 in this way, we would **NOT** update the stamp successfully. Though I'm not very clear...

I fix some typo this time. # the reason why time-stamp of message from map-server is (zero,zero) After some experiments, it seems clear for me that updateMsgHeader as following would...

Oops, I noticed that the CI test failed due to the spin_behavior_test, which doesn't seem to be caused by the validation_message.

I think my rebase did not work correctly and I believe it's more wise for me to open another PR #4276