temporary fix bug null pointer by suifengersan123 · Pull Request #5749 · ros-navigation/navigation2

suifengersan123 · 2025-12-02T04:03:24Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5721)

Description of contribution in a few bullet points

I applied the same repair logic from the previous PR #5733 to the main branch.

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

suifengersan123 · 2025-12-02T06:49:46Z

Sorry,I don't know why failed on CircleCI!

mini-1235 · 2025-12-02T09:55:42Z

@suifengersan123 we are currently having some issues with our CI, I will ping you when it is fixed

suifengersan123 · 2025-12-02T09:59:02Z

@suifengersan123 we are currently having some issues with our CI, I will ping you when it is fixed

Thank you very much!

nav2_costmap_2d/src/layered_costmap.cpp

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

suifengersan123 · 2025-12-03T05:06:52Z

Sorry, it seems like there are still some issues with the CI.

SteveMacenski · 2025-12-03T19:41:29Z

Yeah we're aware - merging since I know this isn't related and I see the right things building on your changes.

* temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com>

* temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Decwest <fumiyaonishi1016@gmail.com>

* temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com>

* No need to spam the logs (#5674) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * Conditionally call onLoop based on node status (#5700) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Allow for no progress checkers to be configured (#5701) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix: wait for drive_on_heading_client instead of backup_client (#5724) The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * Fix: reset controller_server loop_rate when missed desired rate #5712 (#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * temporary fix bug null pointer (#5749) * temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> * fix: change warning to exception when goal poses cannot be transformed (#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Update obstacle layer usage of max ranges (#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * [mppi] Don't reset zone-based speed limits (#5768) * [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Bugfix inactive publishers (#5748) * Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (#5865) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bump jazzy to 1.3.11 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

* No need to spam the logs (ros-navigation#5674) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * Conditionally call onLoop based on node status (ros-navigation#5700) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Allow for no progress checkers to be configured (ros-navigation#5701) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix: wait for drive_on_heading_client instead of backup_client (ros-navigation#5724) The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * Fix: reset controller_server loop_rate when missed desired rate ros-navigation#5712 (ros-navigation#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * temporary fix bug null pointer (ros-navigation#5749) * temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> * fix: change warning to exception when goal poses cannot be transformed (ros-navigation#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * [mppi] Don't reset zone-based speed limits (ros-navigation#5768) * [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Bugfix inactive publishers (ros-navigation#5748) * Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (ros-navigation#5865) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bump jazzy to 1.3.11 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

suifengersan123 mentioned this pull request Dec 2, 2025

temporary fix bug null pointer #5733

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suifengersan123 force-pushed the main-5721 branch from 143a8bc to dbc5f27 Compare December 2, 2025 05:37

SteveMacenski requested changes Dec 2, 2025

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nav2_costmap_2d/src/layered_costmap.cpp Outdated Show resolved Hide resolved

suifengersan123 added 3 commits December 3, 2025 09:18

temporary fix bug null pointer

54bf80d

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

add return

465efc1

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

remove return

1cd2b28

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

suifengersan123 force-pushed the main-5721 branch from 3f96330 to 1cd2b28 Compare December 3, 2025 01:18

Merge branch 'ros-navigation:main' into main-5721

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SteveMacenski approved these changes Dec 3, 2025

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SteveMacenski merged commit d6f8c81 into ros-navigation:main Dec 3, 2025
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suifengersan123 deleted the main-5721 branch December 4, 2025 12:52

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temporary fix bug null pointer#5749

temporary fix bug null pointer#5749
SteveMacenski merged 4 commits intoros-navigation:mainfrom
suifengersan123:main-5721

suifengersan123 commented Dec 2, 2025

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mini-1235 commented Dec 2, 2025

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suifengersan123 commented Dec 2, 2025

Basic Info

Description of contribution in a few bullet points

For Maintainers:

Uh oh!

suifengersan123 commented Dec 2, 2025

Uh oh!

mini-1235 commented Dec 2, 2025

Uh oh!

suifengersan123 commented Dec 2, 2025

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suifengersan123 commented Dec 3, 2025

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SteveMacenski commented Dec 3, 2025

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