Skip to content

[fix] nmea callback: remove \0 bytes to avoid CDR crash #276

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
remco-r wants to merge 1 commit into
base: ros2
Choose a base branch
from
Open

[fix] nmea callback: remove \0 bytes to avoid CDR crash #276

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions ublox_gps/include/ublox_gps/callback.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#ifndef UBLOX_GPS_CALLBACK_HPP
#define UBLOX_GPS_CALLBACK_HPP

#include <algorithm>
#include <chrono>
#include <condition_variable>
#include <functional>
Expand Down Expand Up @@ -203,6 +204,9 @@ class CallbackHandlers final {
size_t nmea_end = buffer.find('\n', nmea_start);
while(nmea_start != std::string::npos && nmea_end != std::string::npos) {
std::string sentence = buffer.substr(nmea_start, nmea_end - nmea_start + 1);
// Strip null characters that may be present in binary data misidentified
// as NMEA. FastCDR >= 2.2.7 throws BadParamException on strings with nulls.
sentence.erase(std::remove(sentence.begin(), sentence.end(), '\0'), sentence.end());
callback_nmea_(sentence);

nmea_start = buffer.find('$', nmea_end + 1);
Expand Down