rclcpp
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ros2
QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures
Operating System:
Linux shangzh-VMware-Virtual-Platform 6.11.0-21-generic #21~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Feb 24 16:52:15 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
ros2 jazzy
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclcpp
'ros2 doctor --report' output
ros2 doc --report
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : 73<RUNNING,UP,LOOPBACK>
mtu : 65536
inet : 192.168.148.137
inet4 : ['192.168.148.137']
ether : 00:0c:29:be:c8:19
inet6 : ['fe80::20c:29ff:febe:c819%ens33']
netmask : 255.255.255.0
device : ens33
flags : 4163<RUNNING,UP,MULTICAST,BROADCAST>
mtu : 1500
broadcast : 192.168.148.255
PACKAGE VERSIONS
rqt_bag_plugins : latest=1.5.4, local=1.5.4
rosbag2 : latest=0.26.6, local=0.26.6
rosbag2_storage_default_plugins : latest=0.26.6, local=0.26.6
rosbag2_storage_mcap : latest=0.26.6, local=0.26.6
rosbag2_compression_zstd : latest=0.26.6, local=0.26.6
mcap_vendor : latest=0.26.6, local=0.26.6
zstd_vendor : latest=0.26.6, local=0.26.6
rviz_visual_testing_framework : latest=14.1.8, local=14.1.7
rviz2 : latest=14.1.8, local=14.1.7
rviz_default_plugins : latest=14.1.8, local=14.1.7
rviz_common : latest=14.1.8, local=14.1.7
rqt_bag : latest=1.5.4, local=1.5.4
rosbag2_examples_py : latest=0.26.6, local=0.26.6
launch_testing_examples : latest=0.19.5, local=0.19.4
ros2bag : latest=0.26.6, local=0.26.6
rosbag2_py : latest=0.26.6, local=0.26.6
rosbag2_transport : latest=0.26.6, local=0.26.6
rosbag2_storage_sqlite3 : latest=0.26.6, local=0.26.6
rosbag2_examples_cpp : latest=0.26.6, local=0.26.6
rosbag2_compression : latest=0.26.6, local=0.26.6
rosbag2_cpp : latest=0.26.6, local=0.26.6
rosbag2_storage : latest=0.26.6, local=0.26.6
image_common : latest=5.1.6, local=5.1.5
camera_info_manager : latest=5.1.6, local=5.1.5
camera_calibration_parsers : latest=5.1.6, local=5.1.5
yaml_cpp_vendor : latest=9.0.1, local=9.0.1
interactive_markers : latest=2.5.4, local=2.5.4
common_interfaces : latest=5.3.6, local=5.3.5
visualization_msgs : latest=5.3.6, local=5.3.5
dummy_robot_bringup : latest=0.33.5, local=0.33.5
robot_state_publisher : latest=3.3.3, local=3.3.3
kdl_parser : latest=2.11.0, local=2.11.0
urdf : latest=2.10.0, local=2.10.0
urdf_parser_plugin : latest=2.10.0, local=2.10.0
turtlesim : latest=1.8.3, local=1.8.3
trajectory_msgs : latest=5.3.6, local=5.3.5
tracetools_test : latest=8.2.3, local=8.2.3
tracetools_launch : latest=8.2.3, local=8.2.3
topic_statistics_demo : latest=0.33.5, local=0.33.5
topic_monitor : latest=0.33.5, local=0.33.5
pendulum_control : latest=0.33.5, local=0.33.5
tlsf_cpp : latest=0.17.1, local=0.17.0
geometry2 : latest=0.36.9, local=0.36.8
tf2_tools : latest=0.36.9, local=0.36.8
tf2_sensor_msgs : latest=0.36.9, local=0.36.8
test_tf2 : latest=N/A, local=0.36.8
tf2_kdl : latest=0.36.9, local=0.36.8
tf2_geometry_msgs : latest=0.36.9, local=0.36.8
examples_tf2_py : latest=0.36.9, local=0.36.8
tf2_ros_py : latest=0.36.9, local=0.36.8
tf2_eigen : latest=0.36.9, local=0.36.8
tf2_bullet : latest=0.36.9, local=0.36.8
tf2_ros : latest=0.36.9, local=0.36.8
tf2_py : latest=0.36.9, local=0.36.8
tf2_msgs : latest=0.36.9, local=0.36.8
tf2_eigen_kdl : latest=0.36.9, local=0.36.8
laser_geometry : latest=2.7.0, local=2.7.0
tf2 : latest=0.36.9, local=0.36.8
test_tracetools : latest=N/A, local=8.2.3
rosbag2_test_common : latest=0.26.6, local=0.26.6
test_msgs : latest=2.0.2, local=2.0.2
test_communication : latest=N/A, local=0.20.2
stereo_msgs : latest=5.3.6, local=5.3.5
std_srvs : latest=5.3.6, local=5.3.5
shape_msgs : latest=5.3.6, local=5.3.5
examples_rclpy_pointcloud_publisher : latest=0.19.5, local=0.19.4
sensor_msgs_py : latest=5.3.6, local=5.3.5
quality_of_service_demo_py : latest=0.33.5, local=0.33.5
quality_of_service_demo_cpp : latest=0.33.5, local=0.33.5
point_cloud_transport_py : latest=4.0.4, local=4.0.3
point_cloud_transport : latest=4.0.4, local=4.0.3
map_msgs : latest=2.4.1, local=2.4.1
intra_process_demo : latest=0.33.5, local=0.33.5
image_transport : latest=5.1.6, local=5.1.5
image_tools : latest=0.33.5, local=0.33.5
dummy_sensors : latest=0.33.5, local=0.33.5
camera_info_manager_py : latest=5.1.6, local=5.1.5
sensor_msgs : latest=5.3.6, local=5.3.5
rqt_plot : latest=1.4.2, local=1.4.2
ros2cli_common_extensions : latest=0.3.0, local=0.3.0
ros2doctor : latest=0.32.3, local=0.32.2
dummy_map_server : latest=0.33.5, local=0.33.5
nav_msgs : latest=5.3.6, local=5.3.5
message_filters : latest=4.11.5, local=4.11.4
logging_demo : latest=0.33.5, local=0.33.5
lifecycle_py : latest=0.33.5, local=0.33.5
lifecycle : latest=0.33.5, local=0.33.5
diagnostic_msgs : latest=5.3.6, local=5.3.5
geometry_msgs : latest=5.3.6, local=5.3.5
examples_rclpy_minimal_subscriber : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_service : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_publisher : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_client : latest=0.19.5, local=0.19.4
examples_rclpy_executors : latest=0.19.5, local=0.19.4
examples_rclcpp_wait_set : latest=0.19.5, local=0.19.4
examples_rclcpp_multithreaded_executor : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_subscriber : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_publisher : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_composition : latest=0.19.5, local=0.19.4
examples_rclcpp_cbg_executor : latest=0.19.5, local=0.19.4
demo_nodes_py : latest=0.33.5, local=0.33.5
demo_nodes_cpp_native : latest=0.33.5, local=0.33.5
demo_nodes_cpp : latest=0.33.5, local=0.33.5
composition : latest=0.33.5, local=0.33.5
actionlib_msgs : latest=5.3.6, local=5.3.5
std_msgs : latest=5.3.6, local=5.3.5
rqt : latest=1.6.0, local=1.6.0
rqt_gui_cpp : latest=1.6.0, local=1.6.0
ros2lifecycle_test_fixtures : latest=0.32.3, local=0.32.2
ros2component : latest=0.32.3, local=0.32.2
rclcpp_lifecycle : latest=28.1.8, local=28.1.6
action_tutorials_cpp : latest=0.33.5, local=0.33.5
rclcpp_components : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_action_server : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_action_client : latest=0.19.5, local=0.19.4
rclcpp_action : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_timer : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_service : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_client : latest=0.19.5, local=0.19.4
examples_rclcpp_async_client : latest=0.19.5, local=0.19.4
rclcpp : latest=28.1.8, local=28.1.6
libstatistics_collector : latest=1.7.4, local=1.7.4
statistics_msgs : latest=2.0.2, local=2.0.2
sros2_cmake : latest=0.13.3, local=0.13.2
sros2 : latest=0.13.3, local=0.13.2
rqt_topic : latest=1.7.3, local=1.7.3
rqt_srv : latest=1.2.2, local=1.2.2
rqt_shell : latest=1.2.2, local=1.2.2
rqt_service_caller : latest=1.2.1, local=1.2.1
rqt_reconfigure : latest=1.6.2, local=1.6.2
rqt_py_console : latest=1.2.2, local=1.2.2
rqt_publisher : latest=1.7.2, local=1.7.2
rqt_action : latest=2.2.0, local=2.2.0
rqt_msg : latest=1.5.1, local=1.5.1
rqt_console : latest=2.2.1, local=2.2.1
rqt_py_common : latest=1.6.0, local=1.6.0
rqt_graph : latest=1.5.4, local=1.5.4
rqt_gui_py : latest=1.6.0, local=1.6.0
rqt_gui : latest=1.6.0, local=1.6.0
ros_testing : latest=0.6.0, local=0.6.0
ros2trace : latest=8.2.3, local=8.2.3
ros2topic : latest=0.32.3, local=0.32.2
ros2test : latest=0.6.0, local=0.6.0
ros2param : latest=0.32.3, local=0.32.2
ros2lifecycle : latest=0.32.3, local=0.32.2
ros2service : latest=0.32.3, local=0.32.2
ros2run : latest=0.32.3, local=0.32.2
ros2launch : latest=0.26.7, local=0.26.6
ros2pkg : latest=0.32.3, local=0.32.2
ros2node : latest=0.32.3, local=0.32.2
ros2multicast : latest=0.32.3, local=0.32.2
ros2interface : latest=0.32.3, local=0.32.2
ros2action : latest=0.32.3, local=0.32.2
ros2cli : latest=0.32.3, local=0.32.2
launch_testing_ros : latest=0.26.7, local=0.26.6
launch_ros : latest=0.26.7, local=0.26.6
examples_rclpy_minimal_action_server : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_action_client : latest=0.19.5, local=0.19.4
examples_rclpy_guard_conditions : latest=0.19.5, local=0.19.4
action_tutorials_py : latest=0.33.5, local=0.33.5
rclpy : latest=7.1.4, local=7.1.3
rosgraph_msgs : latest=2.0.2, local=2.0.2
rosbag2_interfaces : latest=0.26.6, local=0.26.6
ros2cli_test_interfaces : latest=0.32.3, local=0.32.2
rcl_lifecycle : latest=9.2.5, local=9.2.4
rcl_action : latest=9.2.5, local=9.2.4
rcl : latest=9.2.5, local=9.2.4
rmw_implementation : latest=2.15.5, local=2.15.5
rmw_fastrtps_dynamic_cpp : latest=8.4.2, local=8.4.2
rmw_fastrtps_cpp : latest=8.4.2, local=8.4.2
rmw_fastrtps_shared_cpp : latest=8.4.2, local=8.4.2
rmw_cyclonedds_cpp : latest=2.2.3, local=2.2.3
rmw_connextddsmicro : latest=N/A, local=0.22.1
rmw_connextdds : latest=0.22.1, local=0.22.1
rmw_connextdds_common : latest=0.22.1, local=0.22.1
rmw_dds_common : latest=3.1.0, local=3.1.0
composition_interfaces : latest=2.0.2, local=2.0.2
rcl_interfaces : latest=2.0.2, local=2.0.2
pendulum_msgs : latest=0.33.5, local=0.33.5
lifecycle_msgs : latest=2.0.2, local=2.0.2
example_interfaces : latest=0.12.0, local=0.12.0
action_tutorials_interfaces : latest=0.33.5, local=0.33.5
rosidl_default_runtime : latest=1.6.0, local=1.6.0
rosidl_default_generators : latest=1.6.0, local=1.6.0
action_msgs : latest=2.0.2, local=2.0.2
unique_identifier_msgs : latest=2.5.0, local=2.5.0
type_description_interfaces : latest=2.0.2, local=2.0.2
service_msgs : latest=2.0.2, local=2.0.2
builtin_interfaces : latest=2.0.2, local=2.0.2
rosidl_core_runtime : latest=0.2.0, local=0.2.0
rosidl_core_generators : latest=0.2.0, local=0.2.0
rosidl_generator_py : latest=0.22.0, local=0.22.0
ament_lint_common : latest=0.17.2, local=0.17.1
ament_cmake_uncrustify : latest=0.17.2, local=0.17.1
ament_uncrustify : latest=0.17.2, local=0.17.1
uncrustify_vendor : latest=3.0.1, local=3.0.0
tracetools_trace : latest=8.2.3, local=8.2.3
tracetools_read : latest=8.2.3, local=8.2.3
tracetools : latest=8.2.3, local=8.2.3
tlsf : latest=0.9.0, local=0.9.0
qt_gui_core : latest=2.7.5, local=2.7.5
qt_gui_cpp : latest=2.7.5, local=2.7.5
pluginlib : latest=5.4.2, local=5.4.2
tinyxml2_vendor : latest=0.9.1, local=0.9.1
test_tracetools_launch : latest=N/A, local=8.2.3
test_security : latest=N/A, local=0.20.2
test_ros2trace : latest=N/A, local=8.2.3
test_rmw_implementation : latest=N/A, local=2.15.5
test_rclcpp : latest=N/A, local=0.20.2
test_quality_of_service : latest=N/A, local=0.20.2
test_launch_testing : latest=N/A, local=3.4.3
test_launch_ros : latest=N/A, local=0.26.6
test_interface_files : latest=0.11.0, local=0.11.0
test_cli_remapping : latest=N/A, local=0.20.2
test_cli : latest=N/A, local=0.20.2
qt_gui_app : latest=2.7.5, local=2.7.5
qt_gui : latest=2.7.5, local=2.7.5
tango_icons_vendor : latest=0.3.0, local=0.3.0
sqlite3_vendor : latest=0.26.6, local=0.26.6
rcl_logging_spdlog : latest=3.1.1, local=3.1.1
spdlog_vendor : latest=1.6.1, local=1.6.1
shared_queues_vendor : latest=0.26.6, local=0.26.6
rviz_rendering_tests : latest=14.1.8, local=14.1.7
rviz_rendering : latest=14.1.8, local=14.1.7
rviz_ogre_vendor : latest=14.1.8, local=14.1.7
rviz_assimp_vendor : latest=14.1.8, local=14.1.7
rttest : latest=0.17.1, local=0.17.0
rti_connext_dds_cmake_module : latest=0.22.1, local=0.22.1
lttngpy : latest=8.2.3, local=8.2.3
rpyutils : latest=0.4.1, local=0.4.1
rosidl_typesupport_tests : latest=N/A, local=3.2.2
rosidl_typesupport_introspection_tests : latest=N/A, local=4.6.5
rosidl_typesupport_cpp : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_cpp : latest=4.6.5, local=4.6.5
rosidl_typesupport_c : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_c : latest=4.6.5, local=4.6.5
rosidl_typesupport_fastrtps_c : latest=3.6.1, local=3.6.1
rosidl_typesupport_fastrtps_cpp : latest=3.6.1, local=3.6.1
rosidl_generator_cpp : latest=4.6.5, local=4.6.5
rosidl_runtime_cpp : latest=4.6.5, local=4.6.5
rosidl_dynamic_typesupport_fastrtps : latest=0.1.0, local=0.1.0
rcl_yaml_param_parser : latest=9.2.5, local=9.2.4
rmw : latest=7.3.2, local=7.3.2
rosidl_dynamic_typesupport : latest=0.1.2, local=0.1.2
rosidl_runtime_c : latest=4.6.5, local=4.6.5
rosidl_generator_c : latest=4.6.5, local=4.6.5
rosidl_typesupport_interface : latest=4.6.5, local=4.6.5
rosidl_runtime_py : latest=0.13.1, local=0.13.1
rosidl_generator_dds_idl : latest=0.11.1, local=0.11.1
rosidl_cmake : latest=4.6.5, local=4.6.5
rosidl_pycommon : latest=4.6.5, local=4.6.5
rosidl_generator_type_description : latest=4.6.5, local=4.6.5
rosidl_parser : latest=4.6.5, local=4.6.5
rosidl_generator_tests : latest=N/A, local=4.6.5
rosidl_adapter : latest=4.6.5, local=4.6.5
rosidl_cli : latest=4.6.5, local=4.6.5
rosbag2_tests : latest=0.26.6, local=0.26.6
rosbag2_test_msgdefs : latest=0.26.6, local=0.26.6
ros_environment : latest=4.2.1, local=4.2.1
rmw_implementation_cmake : latest=7.3.2, local=7.3.2
resource_retriever : latest=3.4.4, local=3.4.3
class_loader : latest=2.7.0, local=2.7.0
rcpputils : latest=2.11.2, local=2.11.1
rcl_logging_noop : latest=3.1.1, local=3.1.1
rcl_logging_interface : latest=3.1.1, local=3.1.1
rcutils : latest=6.7.2, local=6.7.2
qt_gui_py_common : latest=2.7.5, local=2.7.5
qt_dotgraph : latest=2.7.5, local=2.7.5
python_qt_binding : latest=2.2.1, local=2.2.1
python_orocos_kdl_vendor : latest=0.5.1, local=0.5.1
launch_testing_ament_cmake : latest=3.4.4, local=3.4.3
python_cmake_module : latest=0.11.1, local=0.11.1
pybind11_vendor : latest=3.1.3, local=3.1.2
performance_test_fixture : latest=0.2.1, local=0.2.1
launch_pytest : latest=3.4.4, local=3.4.3
launch_testing : latest=3.4.4, local=3.4.3
launch_yaml : latest=3.4.4, local=3.4.3
launch_xml : latest=3.4.4, local=3.4.3
launch : latest=3.4.4, local=3.4.3
osrf_pycommon : latest=2.1.6, local=2.1.5
orocos_kdl_vendor : latest=0.5.1, local=0.5.1
mimick_vendor : latest=0.6.2, local=0.6.2
libyaml_vendor : latest=1.6.3, local=1.6.3
liblz4_vendor : latest=0.26.6, local=0.26.6
libcurl_vendor : latest=3.4.4, local=3.4.3
keyboard_handler : latest=0.3.1, local=0.3.1
gz_math_vendor : latest=0.0.8, local=0.0.8
gz_utils_vendor : latest=0.0.5, local=0.0.5
gz_cmake_vendor : latest=0.0.9, local=0.0.9
ament_cmake_ros : latest=0.12.0, local=0.12.0
ament_cmake_auto : latest=2.5.3, local=2.5.3
ament_cmake_gmock : latest=2.5.3, local=2.5.3
ament_cmake_gtest : latest=2.5.3, local=2.5.3
ament_cmake_google_benchmark : latest=2.5.3, local=2.5.3
fastrtps_cmake_module : latest=3.6.1, local=3.6.1
eigen3_cmake_module : latest=0.3.0, local=0.3.0
domain_coordinator : latest=0.12.0, local=0.12.0
console_bridge_vendor : latest=1.7.1, local=1.7.1
ament_cmake_xmllint : latest=0.17.2, local=0.17.1
ament_xmllint : latest=0.17.2, local=0.17.1
ament_cmake_pyflakes : latest=0.17.2, local=0.17.1
ament_pyflakes : latest=0.17.2, local=0.17.1
ament_cmake_pycodestyle : latest=0.17.2, local=0.17.1
ament_pycodestyle : latest=0.17.2, local=0.17.1
ament_cmake_pep257 : latest=0.17.2, local=0.17.1
ament_pep257 : latest=0.17.2, local=0.17.1
ament_cmake_pclint : latest=0.17.2, local=0.17.1
ament_pclint : latest=0.17.2, local=0.17.1
ament_lint_auto : latest=0.17.2, local=0.17.1
ament_cmake : latest=2.5.3, local=2.5.3
ament_cmake_version : latest=2.5.3, local=2.5.3
ament_cmake_vendor_package : latest=2.5.3, local=2.5.3
ament_cmake_pytest : latest=2.5.3, local=2.5.3
ament_cmake_mypy : latest=0.17.2, local=0.17.1
ament_cmake_lint_cmake : latest=0.17.2, local=0.17.1
ament_cmake_flake8 : latest=0.17.2, local=0.17.1
ament_cmake_cpplint : latest=0.17.2, local=0.17.1
ament_cmake_cppcheck : latest=0.17.2, local=0.17.1
ament_cmake_copyright : latest=0.17.2, local=0.17.1
ament_cmake_clang_tidy : latest=0.17.2, local=0.17.1
ament_cmake_clang_format : latest=0.17.2, local=0.17.1
ament_cmake_test : latest=2.5.3, local=2.5.3
ament_cmake_target_dependencies : latest=2.5.3, local=2.5.3
ament_cmake_python : latest=2.5.3, local=2.5.3
ament_cmake_export_dependencies : latest=2.5.3, local=2.5.3
ament_cmake_libraries : latest=2.5.3, local=2.5.3
ament_cmake_include_directories : latest=2.5.3, local=2.5.3
ament_cmake_gen_version_h : latest=2.5.3, local=2.5.3
ament_cmake_export_targets : latest=2.5.3, local=2.5.3
ament_cmake_export_link_flags : latest=2.5.3, local=2.5.3
ament_cmake_export_interfaces : latest=2.5.3, local=2.5.3
ament_cmake_export_libraries : latest=2.5.3, local=2.5.3
ament_cmake_export_include_directories : latest=2.5.3, local=2.5.3
ament_cmake_export_definitions : latest=2.5.3, local=2.5.3
ament_cmake_core : latest=2.5.3, local=2.5.3
ament_package : latest=0.16.4, local=0.16.3
ament_mypy : latest=0.17.2, local=0.17.1
ament_lint_cmake : latest=0.17.2, local=0.17.1
ament_flake8 : latest=0.17.2, local=0.17.1
ament_copyright : latest=0.17.2, local=0.17.1
ament_lint : latest=0.17.2, local=0.17.1
ament_index_python : latest=1.8.1, local=1.8.1
ament_index_cpp : latest=1.8.1, local=1.8.1
ament_cpplint : latest=0.17.2, local=0.17.1
ament_cppcheck : latest=0.17.2, local=0.17.1
ament_clang_tidy : latest=0.17.2, local=0.17.1
ament_clang_format : latest=0.17.2, local=0.17.1
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.11.0-21-generic-x86_64-with-glibc2.39
release : 6.11.0-21-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : jazzy
distribution type : ros2
distribution status : active
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
Steps to reproduce issue
Environment
OS Version: Ubuntu 24.04 rclcpp version: ros2 jazzy Compiler name and version number: Ubuntu clang version 18.1.3 Source or binary build? source build build options: --mixin asan-gcc
Description:
In the current implementation, the function rclcpp::QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos) does not validate the rmw_qos.history field. If an invalid enumeration value (e.g., -1) is passed, the function falls through to the default case and continues execution with KeepLast(rmw_qos.depth) instead of throwing an exception or reporting an error. This may lead to silent failures in the presence of incorrect configuration, violating the robustness principle.
Test Case
#include <gtest/gtest.h>
#include <string>
#include "rclcpp/qos.hpp"
#include "rmw/types.h"
TEST(TestQoSInitialization, from_rmw_validity) {
rmw_qos_profile_t rmw_qos_invalid = {static_cast<rmw_qos_history_policy_t>(-1), 0, {}};
EXPECT_THROW(rclcpp::QoSInitialization::from_rmw(rmw_qos_invalid), std::invalid_argument);
}
Output
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from TestQoSInitialization
[ RUN ] TestQoSInitialization.from_rmw_validity
[WARN] [1744620022.659592016] [rclcpp]: A zero depth with KEEP_LAST doesn't make sense; no data could be stored. This will be interpreted as SYSTEM_DEFAULT
/home/shangzh/ros2_jazzy/src/ros2/rclcpp/rclcpp/test/rclcpp/test_qos.cpp:8: Failure
Expected: rclcpp::QoSInitialization::from_rmw(rmw_qos_invalid) throws an exception of type std::invalid_argument.
Actual: it throws nothing.
[ FAILED ] TestQoSInitialization.from_rmw_validity (0 ms)
[----------] 1 test from TestQoSInitialization (0 ms total)
[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (0 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 1 test, listed below:
[ FAILED ] TestQoSInitialization.from_rmw_validity
1 FAILED TEST
Expected behavior
When an invalid history_policy enumeration value is provided (i.e., not one of RMW_QOS_POLICY_HISTORY_KEEP_ALL, KEEP_LAST, SYSTEM_DEFAULT, or UNKNOWN), the function should explicitly throw an exception (e.g., std::invalid_argument) to indicate that the input is invalid and prevent unintended behavior.
Actual behavior
The function does not check the validity of the history_policy value. Any unsupported value silently falls into the default case and proceeds with KeepLast(rmw_qos.depth), making it impossible for the caller to detect the invalid configuration.
Additional information
Suggested Fix
Add explicit validation for the history_policy value. For example, the default case in the switch statement can be modified to throw an exception:
switch (rmw_qos.history) {
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
return KeepAll();
case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
return KeepLast(rmw_qos.depth, false);
case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
case RMW_QOS_POLICY_HISTORY_UNKNOWN:
return KeepLast(rmw_qos.depth);
default:
throw std::invalid_argument("Invalid history policy enum value passed to QoSInitialization::from_rmw");
}
