Skip to content

[amcl] check the recieved initialpose in the size of map #4416

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

Merged
SteveMacenski merged 10 commits into from
Jun 11, 2024
Merged

[amcl] check the recieved initialpose in the size of map #4416

Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
87303bf
reorder pointers-reset & remove rebundant code
Jun 11, 2024
fc3654e
check the initialpose in map
Jun 11, 2024
0a59133
back
Jun 11, 2024
5d656d3
remove the redunbant code
Jun 11, 2024
15991cd
code style
Jun 11, 2024
83689fb
code style
Jun 11, 2024
6b80840
code style
Jun 11, 2024
6ec2fd5
codestyle
Jun 11, 2024
6fd8bd6
Update nav2_amcl/src/amcl_node.cpp
SteveMacenski Jun 11, 2024
4d5ddc4
Update nav2_amcl/src/amcl_node.cpp
SteveMacenski Jun 11, 2024
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: 8 additions & 1 deletion nav2_amcl/src/amcl_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -328,7 +328,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
global_loc_srv_.reset();
initial_guess_srv_.reset();
nomotion_update_srv_.reset();
executor_thread_.reset(); // to make sure initial_pose_sub_ completely exit
initial_pose_sub_.reset();
laser_scan_connection_.disconnect();
tf_listener_.reset(); // listener may access lase_scan_filter_, so it should be reset earlier
Expand Down Expand Up @@ -536,6 +535,14 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
global_frame_id_.c_str());
return;
}
if (abs(msg->pose.pose.position.x) > map_->size_x ||
abs(msg->pose.pose.position.y) > map_->size_y)
{
RCLCPP_ERROR(
get_logger(), "Received initialpose from message is out of the size of map. Rejecting.");
return;
}

// Overriding last published pose to initial pose
last_published_pose_ = *msg;

Expand Down