Issue with SelectionManager::select Function Not Returning Empty Selection Result for Invalid Coordinates

[zhihaoshang]

Operating System:

Linux shangzh-VMware-Virtual-Platform 6.11.0-19-generic #19~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Feb 17 11:51:52 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

ros 2 jazzy

RMW implementation (if applicable):

No response

RMW Configuration (if applicable):

No response

Client library (if applicable):

rviz

'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,LOOPBACK,UP>
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,MULTICAST,BROADCAST,UP>
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=5.1.5, local=5.1.5
camera_info_manager                       : latest=5.1.5, local=5.1.5
camera_calibration_parsers                : latest=5.1.5, 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=4.0.3, local=4.0.3
point_cloud_transport                     : latest=4.0.3, 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=5.1.5, 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=5.1.5, 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=3.4.3, 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=2.1.5, 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=3.4.3, 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
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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
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ament_cmake_clang_tidy                    : latest=0.17.2, local=0.17.1
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ament_cmake_test                          : latest=2.5.3, local=2.5.3
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ament_cmake_python                        : latest=2.5.3, local=2.5.3
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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
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ament_cmake_export_include_directories    : latest=2.5.3, local=2.5.3
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ament_cmake_core                          : latest=2.5.3, local=2.5.3
ament_package                             : latest=0.16.3, 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
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ament_index_python                        : latest=1.8.1, local=1.8.1
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   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.11.0-19-generic-x86_64-with-glibc2.39
release          : 6.11.0-19-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
rviz 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:

When executing the SelectionManager::select function, invalid coordinates (such as negative coordinates or coordinates outside the rendering window) are not handled correctly in the pick function, leading to the erroneous selection of objects that should not be selected. This is reflected in the failure of the unit test SelectionManagerTestFixture.select_handles_invalid_coordinates_gracefully, where the expected selection result is empty, but the actual result contains selected objects.

Steps to Reproduce:

1.In the SelectionManagerTestFixture.select_handles_invalid_coordinates_gracefully test, pass an invalid selection region (e.g., negative coordinates -10, -10).

2.Call the SelectionManager::select function and expect an empty selection result.

3.Actual result: The selection result returned contains one object, with a size of 1 instead of the expected size 0.

Test Case:

#include <gmock/gmock.h>
#include <memory>
#include <string>
#include <vector>
#include "rviz_common/interaction/selection_manager.hpp"
#include "rviz_common/interaction/selection_handler.hpp"
#include "rviz_common/display_context.hpp"
#include "selection_test_fixture.hpp"
#include "mock_selection_renderer.hpp"
using namespace ::testing;  // NOLINT

class SelectionManagerTestFixture : public SelectionTestFixture
{
public:
   VisibleObject addVisibleObject(int x, int y)
   {
     VisibleObject object(x, y, context_.get());
     renderer_->addVisibleObject(object);
     return object;
   }
   ~SelectionManagerTestFixture()
   {
     if (render_window_) {
       delete render_window_;
     }
   }
   rviz_rendering::RenderWindow * render_window_ = nullptr;
};

TEST_F(SelectionManagerTestFixture, select_handles_invalid_coordinates_gracefully) {
   auto o1 = addVisibleObject(10, 10);
   auto o2 = addVisibleObject(150, 150);
   selection_manager_->select(
     render_window_, -10, -10, 100, 100, rviz_common::interaction::SelectionManager::Replace);
   auto selection = selection_manager_->getSelection();
   EXPECT_THAT(selection, SizeIs(0));
}

Output:

Running main() from gmock_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SelectionManagerTestFixture
[ RUN      ] SelectionManagerTestFixture.select_handles_invalid_coordinates_gracefully
[rviz_rendering:debug] Available Renderers(1): OpenGL Rendering Subsystem, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:289
[rviz_rendering:info] Stereo is NOT SUPPORTED, at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:531
[rviz_rendering:info] OpenGl version: 4.3 (GLSL 4.3), at /home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_rendering/src/rviz_rendering/render_system.cpp:272
/home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_common/test/interaction/selection_manager_test.cpp:36: Failure
Value of: selection
Expected: has a size that is equal to 0
  Actual: { (8388608, 56-byte object <00-00 80-00 01-00 00-00 BE-BE BE-BE BE-BE BE-BE 00-00 00-00 BE-BE BE-BE 00-00 00-00 00-00 00-00 20-AB 0A-00 70-50 00-00 20-AB 0A-00 70-50 00-00 00-00 00-00 00-00 00-00>) }, whose size 1 doesn't match

[  FAILED  ] SelectionManagerTestFixture.select_handles_invalid_coordinates_gracefully (2060 ms)
[----------] 1 test from SelectionManagerTestFixture (2060 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (2060 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] SelectionManagerTestFixture.select_handles_invalid_coordinates_gracefully

 1 FAILED TEST

Expected behavior

When passing invalid coordinate regions (such as negative coordinates or coordinates outside the rendering window), the pick function should correctly handle these invalid coordinates and return an empty selection result without any selected objects.

Actual behavior

Even with invalid coordinates, the pick function still returns a selection result containing one object, leading to the test failure. The error message is as follows:

Value of: selection
Expected: has a size that is equal to 0
  Actual: { (8388608, 56-byte object <00-00 80-00 01-00 00-00 BE-BE BE-BE BE-BE BE-BE 00-00 00-00 BE-BE BE-BE 00-00 00-00 00-00 00-00 20-AB 0A-00 70-50 00-00 20-AB 0A-00 70-50 00-00 00-00 00-00 00-00 00-00>) }, whose size 1 doesn't match

Additional information

No response