Skip to content

catch Extrapolation Exception when a bad map frame location. #3252

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
Cryst4L9527 wants to merge 3 commits into from
Closed

catch Extrapolation Exception when a bad map frame location. #3252

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
ee67284
Update observation_buffer.cpp
Cryst4L9527 Oct 21, 2022
314bf67
Update observation_buffer.cpp
Cryst4L9527 Oct 21, 2022
1e46ccf
fit codestyle
Cryst4L9527 Oct 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions nav2_costmap_2d/src/observation_buffer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,15 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud)
modifier.resize(point_count);
observation_cloud.header.stamp = cloud.header.stamp;
observation_cloud.header.frame_id = global_frame_cloud.header.frame_id;
} catch (tf2::ExtrapolationException & ex) {
// if an exception occurs, we need to remove the empty observation from the list
observation_list_.pop_front();
RCLCPP_ERROR(
logger_,
"TF Extrapolation Exception that should never happen for sensor frame: %s, cloud frame: %s, %s",
sensor_frame_.c_str(),
cloud.header.frame_id.c_str(), ex.what());
return;
} catch (tf2::TransformException & ex) {
// if an exception occurs, we need to remove the empty observation from the list
observation_list_.pop_front();
Expand Down