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Add semantic checks to avoid NPE in Mapper. #434

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Merged
SteveMacenski merged 1 commit into from
Sep 9, 2021
Merged

Add semantic checks to avoid NPE in Mapper. #434

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7 changes: 7 additions & 0 deletions src/laser_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,13 @@ karto::LaserRangeFinder * LaserAssistant::makeLaser(const double & mountingYaw)
}
node_->get_parameter("max_laser_range", max_laser_range);

if (max_laser_range <= 0) {
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@SteveMacenski SteveMacenski Sep 8, 2021

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Is this a real issue you really ran into? This seems like its from a poorly formed laser scan message and it should be fixed by the publisher

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@zouyonghao zouyonghao Sep 9, 2021

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I just consider it as a parameter a user can set, and it seems it is not related to scan message...

RCLCPP_WARN(node_->get_logger(),
"You've set maximum_laser_range to be negative,"
"this isn't allowed so it will be set to (%.1f).", scan_.range_max);
max_laser_range = scan_.range_max;
}

if (max_laser_range > scan_.range_max) {
RCLCPP_WARN(node_->get_logger(),
"maximum laser range setting (%.1f m) exceeds the capabilities "
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36 changes: 36 additions & 0 deletions src/slam_mapper.cpp
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Expand Up @@ -207,6 +207,12 @@ void SMapper::configure(const rclcpp::Node::SharedPtr & node)
correlation_search_space_dimension);
}
node->get_parameter("correlation_search_space_dimension", correlation_search_space_dimension);
if (correlation_search_space_dimension <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set correlation_search_space_dimension to be negative,"
"this isn't allowed so it will be set to default value 0.5.");
correlation_search_space_dimension = 0.5;
}
mapper_->setParamCorrelationSearchSpaceDimension(correlation_search_space_dimension);

double correlation_search_space_resolution = 0.01;
Expand All @@ -216,6 +222,12 @@ void SMapper::configure(const rclcpp::Node::SharedPtr & node)
correlation_search_space_resolution);
}
node->get_parameter("correlation_search_space_resolution", correlation_search_space_resolution);
if (correlation_search_space_resolution <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set correlation_search_space_resolution to be negative,"
"this isn't allowed so it will be set to default value 0.01.");
correlation_search_space_resolution = 0.01;
}
mapper_->setParamCorrelationSearchSpaceResolution(correlation_search_space_resolution);

double correlation_search_space_smear_deviation = 0.1;
Expand All @@ -227,6 +239,12 @@ void SMapper::configure(const rclcpp::Node::SharedPtr & node)
node->get_parameter(
"correlation_search_space_smear_deviation",
correlation_search_space_smear_deviation);
if (correlation_search_space_smear_deviation <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set correlation_search_space_smear_deviation to be negative,"
"this isn't allowed so it will be set to default value 0.1.");
correlation_search_space_smear_deviation = 0.1;
}
mapper_->setParamCorrelationSearchSpaceSmearDeviation(correlation_search_space_smear_deviation);

// Setting Correlation Parameters, Loop Closure Parameters
Expand All @@ -235,20 +253,38 @@ void SMapper::configure(const rclcpp::Node::SharedPtr & node)
node->declare_parameter("loop_search_space_dimension", loop_search_space_dimension);
}
node->get_parameter("loop_search_space_dimension", loop_search_space_dimension);
if (loop_search_space_dimension <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set loop_search_space_dimension to be negative,"
"this isn't allowed so it will be set to default value 8.0.");
loop_search_space_dimension = 8.0;
}
mapper_->setParamLoopSearchSpaceDimension(loop_search_space_dimension);

double loop_search_space_resolution = 0.05;
if (!node->has_parameter("loop_search_space_resolution")) {
node->declare_parameter("loop_search_space_resolution", loop_search_space_resolution);
}
node->get_parameter("loop_search_space_resolution", loop_search_space_resolution);
if (loop_search_space_resolution <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set loop_search_space_resolution to be negative,"
"this isn't allowed so it will be set to default value 0.05.");
loop_search_space_resolution = 0.05;
}
mapper_->setParamLoopSearchSpaceResolution(loop_search_space_resolution);

double loop_search_space_smear_deviation = 0.03;
if (!node->has_parameter("loop_search_space_smear_deviation")) {
node->declare_parameter("loop_search_space_smear_deviation", loop_search_space_smear_deviation);
}
node->get_parameter("loop_search_space_smear_deviation", loop_search_space_smear_deviation);
if (loop_search_space_smear_deviation <= 0) {
RCLCPP_WARN(node->get_logger(),
"You've set loop_search_space_smear_deviation to be negative,"
"this isn't allowed so it will be set to default value 0.03.");
loop_search_space_smear_deviation = 0.03;
}
mapper_->setParamLoopSearchSpaceSmearDeviation(loop_search_space_smear_deviation);

// Setting Scan Matcher Parameters
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