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Add more semantic checks for amcl parameters #2528

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Merged
SteveMacenski merged 3 commits into from
Aug 24, 2021
Merged

Add more semantic checks for amcl parameters #2528

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f6dd8af
Fix null pointer in amcl on_cleanup
zouyonghao Aug 12, 2021
f924697
Merge branch 'ros-planning:main' into main
zouyonghao Aug 24, 2021
d82df59
Add more semantic checks for amcl
zouyonghao Aug 24, 2021
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19 changes: 19 additions & 0 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1107,6 +1107,25 @@ AmclNode::initParameters()
last_time_printed_msg_ = now();

// Semantic checks
if (laser_likelihood_max_dist_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set laser_likelihood_max_dist to be negtive,"
" this isn't allowed so it will be set to default value 2.0.");
laser_likelihood_max_dist_ = 2.0;
}
if (max_particles_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set max_particles to be negtive,"
" this isn't allowed so it will be set to default value 2000.");
max_particles_ = 2000;
}

if (min_particles_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set min_particles to be negtive,"
" this isn't allowed so it will be set to default value 500.");
min_particles_ = 500;
}

if (min_particles_ > max_particles_) {
RCLCPP_WARN(
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