Crashed when add AdvancedLiftDrag plugin without designating specific entity

[XINJIANGMO]

Environment

• OS Version: Ubuntu 24.04
• Source , gz-sim9

Description

• Expected behavior: gazebo didn't crash
• Actual behavior: gazebo crashed
• this issue looked the same as Issue#2903. One uses LiftDrag plugin and the other uses AdvancedLiftDrag plugin , the former has been fixed in PR#2907, I think the fixed logic may be the same.

Steps to reproduce

1. gz sim a.txt

2. execute the command as follows

gz service --timeout 10000 -s /world/default/entity/system/add --reptype gz.msgs.Boolean --reqtype gz.msgs.EntityPlugin_V --req 'entity {
}
plugins {
  name: "gz::sim::systems::AdvancedLiftDrag"
  filename: "gz-sim-advanced-lift-drag-system"
  innerxml: "<a0>0.0</a0>\n<CL0>0.15188</CL0>\n<AR>6.5</AR>\n<eff>0.97</eff>\n<CLa>5.015</CLa>\n<CD0>0.029</CD0>\n<Cem0>0.075</Cem0>\n<Cema>-0.463966</Cema>\n<CYb>-0.258244</CYb>\n<Cellb>-0.039250</Cellb>\n<Cenb>0.100826</Cenb>\n<CDp>0.0</CDp>\n<CYp>0.065861</CYp>\n<CLp>0.0</CLp>\n<Cellp>-0.487407</Cellp>\n<Cemp>0.0</Cemp>\n<Cenp>-0.040416</Cenp>\n<CDq>0.055166</CDq>\n<CYq>0.0</CYq>\n<CLq>7.971792</CLq>\n<Cellq>0.0</Cellq>\n<Cemq>-12.140140</Cemq>\n<Cenq>0.0</Cenq>\n<CDr>0.0</CDr>\n<CYr>0.230299</CYr>\n<CLr>0.0</CLr>\n<Cellr>0.078165</Cellr>\n<Cemr>0.0</Cemr>\n<Cenr>-0.089947</Cenr>\n<alpha_stall>0.3391428111</alpha_stall>\n<CLa_stall>-3.85</CLa_stall>\n<CDa_stall>-0.9233984055</CDa_stall>\n<Cema_stall>0</Cema_stall>\n<cp>-0.12 0.0 0.0</cp>\n<area>0.34</area>\n<mac>0.22</mac>\n<air_density>1.2041</air_density>\n<forward>1 0 0</forward>\n<upward>0 0 1</upward>\n<link_name>base_link</link_name>\n<num_ctrl_surfaces>4</num_ctrl_surfaces>\n<control_surface>\n<name>servo_0</name>\n<index>0</index>\n<direction>1</direction>\n<CD_ctrl>-0.000059</CD_ctrl>\n<CY_ctrl>0.000171</CY_ctrl>\n<CL_ctrl>-0.011940</CL_ctrl>\n<Cell_ctrl>-0.003331</Cell_ctrl>\n<Cem_ctrl>0.001498</Cem_ctrl>\n<Cen_ctrl>-0.000057</Cen_ctrl>\n</control_surface>\n<control_surface>\n<name>servo_1</name>\n<direction>1</direction>\n<index>1</index>\n<CD_ctrl>-0.000059</CD_ctrl>\n<CY_ctrl>-0.000171</CY_ctrl>\n<CL_ctrl>-0.011940</CL_ctrl>\n<Cell_ctrl>0.003331</Cell_ctrl>\n<Cem_ctrl>0.001498</Cem_ctrl>\n<Cen_ctrl>0.000057</Cen_ctrl>\n</control_surface>\n<control_surface>\n<name>servo_2</name>\n<direction>-1</direction>\n<index>2</index>\n<CD_ctrl>0.000274</CD_ctrl>\n<CY_ctrl>0</CY_ctrl>\n<CL_ctrl>0.010696</CL_ctrl>\n<Cell_ctrl>0.0</Cell_ctrl>\n<Cem_ctrl>-0.025798</Cem_ctrl>\n<Cen_ctrl>0.0</Cen_ctrl>\n</control_surface>\n<control_surface>\n<name>servo_3</name>\n<direction>1</direction>\n<index>3</index>\n<CD_ctrl>0.0</CD_ctrl>\n<CY_ctrl>-0.003913</CY_ctrl>\n<CL_ctrl>0.0</CL_ctrl>\n<Cell_ctrl>-0.000257</Cell_ctrl>\n<Cem_ctrl>0.0</Cem_ctrl>\n<Cen_ctrl>0.001613</Cen_ctrl>\n</control_surface>\n"
}
'

Output

Stack trace (most recent call last):
#30   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#29   Object "gz sim /home/momo/w_s/exp/random05/_553/a.sdf --seed 12345 -v 0 -r -s --headless-rendering", at 0x64ecbd32f1d4, in _start
#28   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x744a23e2a28a, in __libc_start_main
#27   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x744a23e2a1c9, in 
#26   Object "gz sim /home/momo/w_s/exp/random05/_553/a.sdf --seed 12345 -v 0 -r -s --headless-rendering", at 0x64ecbd32f186, in 
#25   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a242b9192, in ruby_run_node
#24   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a242b4e5b, in 
#23   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a24457b39, in rb_vm_exec
#22   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a244545db, in 
#21   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a244500fe, in 
#20   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a2444d8ef, in 
#19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x744a23c57b13, in 
#18   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x744a244163bb, in rb_nogvl
#17   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x744a23c5743b, in 
#16   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x744a23cfa0bd, in ffi_call
#15   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x744a23cf73ee, in 
#14   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x744a23cfab15, in 
#13   Object "/home/momo/w_s/install/lib/libgz-sim9-gz.so.9.1.0", at 0x744a2038b9e3, in runServer
#12   Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1ca0b591, in gz::sim::v9::Server::Run(bool, unsigned long, bool)
#11   Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1ca787b2, in 
#10   Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1cab1d33, in gz::sim::v9::SimulationRunner::Run(unsigned long)
#9    Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1cab2d38, in gz::sim::v9::SimulationRunner::Step(gz::sim::v9::UpdateInfo const&)
#8    Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1caaef6a, in gz::sim::v9::SimulationRunner::UpdateSystems()
#7    Object "/home/momo/w_s/install/lib/gz-sim-9/plugins/libgz-sim-advanced-lift-drag-system.so", at 0x744a07cf7ba0, in 
#6    Object "/home/momo/w_s/install/lib/gz-sim-9/plugins/libgz-sim-advanced-lift-drag-system.so", at 0x744a07cec293, in 
#5    Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1c86dd54, in std::pair<double, bool> sdf::v15::Element::Get<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&) const
#4    Object "/home/momo/w_s/install/lib/libgz-sim9.so.9", at 0x744a1c876c94, in std::pair<double, bool> sdf::v15::Element::Get<double>(std::vector<sdf::v15::Error, std::allocator<sdf::v15::Error> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&) const
#3    Object "/home/momo/w_s/install/lib/libsdformat15.so.15", at 0x744a1a9d15d2, in sdf::v15::Element::GetAttribute(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const
#2    Object "/home/momo/w_s/install/lib/libsdformat15.so.15", at 0x744a1a924b13, in 
#1    Object "/home/momo/w_s/install/lib/libsdformat15.so.15", at 0x744a1a93157b, in 
#0    Object "/home/momo/w_s/install/lib/libsdformat15.so.15", at 0x744a1a939a16, in 
Segmentation fault (Address not mapped to object [0x18])

[arjo129]

Thanks for the extensive fuzz testing you are carrying out! I've merged a solution into main.