fix(LibCarla): port lane marking, waypoint loop, lane corners, and pugixml null fixes#9652
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Blyron merged 4 commits intocarla-simulator:ue5-devfrom Apr 16, 2026
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…l null fixes Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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Pull request overview
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Ports several UE4-dev bug fixes into LibCarla, focusing on preventing crashes/infinite loops and improving robustness in lane marking generation and XML node insertion.
Changes:
- Add
_rootnull-guards to multiple pugixml insertion APIs and introduce GTest coverage. - Refactor lane marking generation to use a helper that avoids divide-by-zero on zero-width lanes.
- Prevent waypoint traversal infinite recursion and harden lane corner computations (clamping
s).
Reviewed changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated 7 comments.
Show a summary per file
| File | Description |
|---|---|
| LibCarla/source/third-party/pugixml/pugixml.cpp | Adds _root null checks to avoid crashes during insertion operations. |
| LibCarla/source/test/common/test_pugixml.cpp | Introduces GTests intended to validate the pugixml null-guard behavior. |
| LibCarla/source/carla/road/MeshFactory.h | Declares a helper for lane marking edge computation. |
| LibCarla/source/carla/road/MeshFactory.cpp | Uses the helper to generate lane marking geometry and implements robust edge computation. |
| LibCarla/source/carla/road/Map.cpp | Adds loop-breaking logic in waypoint traversal and a guard for degenerate edges in tree placement. |
| LibCarla/source/carla/road/Lane.cpp | Clamps s in GetCornerPositions to avoid out-of-range crashes. |
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JesusAnaya
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Apr 8, 2026
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This change has one potential bug (LibCarla/source/carla/road/Map.cpp:1294-1306). Please review my comments.
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Invert the degenerate-edges guard so that only tree placement is skipped when edges.first == edges.second, instead of using continue which skipped the s_current increment and caused an infinite loop. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
JesusAnaya
approved these changes
Apr 9, 2026
The refactored ComputeEdgesForLanemark helper always used road_param.extra_lane_width, but the original code used extra_width=0 for Solid lane markings and end marking vertices. This shifted solid lane marking geometry away from the lane boundary. Add an extra_width parameter and forward the original values from each call site: 0.0f for Solid/end-marking, road_param.extra_lane_width for Broken/Dashed. Fixes carla-simulator#9677 Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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@Blyron Please review this. |
Blyron
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Apr 15, 2026
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Description
Port of 4 ue4-dev bug fixes:
Lane marking generation
(
86fcfe5e8) — ExtractComputeEdgesForLanemarkhelper to handle zero-width lanes without divide-by-zero. Addedges.first == edges.secondguard in tree generation.Waypoint next/previous infinite loop
(
e41ffa03c) — Prevent infinite recursion inGetNext/GetPreviouswhen two roads with opposite directions are connected as each other's successor.Lane corners crash (
4d4dd1d11) — Clampsparameter inGetCornerPositionsto[0, road_length]to prevent crash when requested s exceeds lane distance.pugixml null pointer dereference
(
4ca87e818+6cb77140c) — Add!_rootnull checks in 6 xml_node insertion methods to prevent crashes on empty nodes. Includes Google Test cases.Where has this been tested?
Possible Drawbacks
None. All changes are defensive guards and bug fixes.
This change is