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Return early from edge interpolation for zero-length edges #5453

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Merged
SteveMacenski merged 2 commits into from
Aug 26, 2025
Merged

Return early from edge interpolation for zero-length edges #5453

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b0e5607
Return early from edge interpolation for zero-length edges
emersonknapp Aug 13, 2025
8d75149
Move the check and add a test
emersonknapp Aug 25, 2025
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5 changes: 5 additions & 0 deletions nav2_route/src/path_converter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,11 @@ void PathConverter::interpolateEdge(
// Find number of points to populate by given density
const float mag = hypotf(x1 - x0, y1 - y0);
const unsigned int num_pts = ceil(mag / density_);
// For zero-length edges, we can just push the start point and return
if (num_pts < 1) {
return;
}

const float iterpolated_dist = mag / num_pts;

// Find unit vector direction
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12 changes: 12 additions & 0 deletions nav2_route/test/test_path_converter.cpp
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Expand Up @@ -163,3 +163,15 @@ TEST(PathConverterTest, test_path_converter_interpolation)
poses[i].pose.position.y - poses[i + 1].pose.position.y), 0.05);
}
}

TEST(PathConverterTest, test_path_converter_zero_length_edge)
{
auto node = std::make_shared<nav2::LifecycleNode>("edge_scorer_test");
PathConverter converter;
converter.configure(node);

float x0 = 10.0, y0 = 10.0, x1 = 10.0, y1 = 10.0;
std::vector<geometry_msgs::msg::PoseStamped> poses;
converter.interpolateEdge(x0, y0, x1, y1, poses);
ASSERT_TRUE(poses.empty());
}
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