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fix bug heap-buffer-overflow #5735

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fix bug heap-buffer-overflow #5735

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fix bug heap-buffer-overflow 
Signed-off-by: suifengersan123 <yangabc810@gmail.com>
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@suifengersan123
suifengersan123 committed Nov 28, 2025
commit 8033d3fe0d140bb7dfc0eae6c21ced38bf344986
8 changes: 6 additions & 2 deletions nav2_costmap_2d/src/costmap_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -350,11 +350,15 @@ bool Costmap2D::setConvexPolygonCost(
convexFillCells(map_polygon, polygon_cells);

// set the cost of those cells
bool cells_written = false;
for (unsigned int i = 0; i < polygon_cells.size(); ++i) {
unsigned int index = getIndex(polygon_cells[i].x, polygon_cells[i].y);
costmap_[index] = cost_value;
if (index < size_x_ * size_y_) {
costmap_[index] = cost_value;
cells_written = true;
}
}
return true;
return cells_written;
}

void Costmap2D::polygonOutlineCells(
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