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fix: change warning to exception when goal poses cannot be transformed #5759

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Merged
SteveMacenski merged 1 commit into from
Dec 4, 2025
Merged

fix: change warning to exception when goal poses cannot be transformed #5759

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7 changes: 3 additions & 4 deletions nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#include <set>
#include <memory>
#include <limits>
#include <stdexcept>
#include "nav2_bt_navigator/navigators/navigate_through_poses.hpp"

namespace nav2_bt_navigator
Expand Down Expand Up @@ -217,11 +218,9 @@ NavigateThroughPosesNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
// if pending goal has an empty behavior_tree field, it requests the default BT file
// accept the pending goal if the current goal is running the default BT file
if (!initializeGoalPoses(bt_action_server_->acceptPendingGoal())) {
RCLCPP_WARN(
logger_,
throw std::runtime_error(
"Preemption request was rejected since the goal poses could not be "
"transformed. For now, continuing to track the last goal until completion.");
bt_action_server_->terminatePendingGoal();
"transformed.");
}
} else {
RCLCPP_WARN(
Expand Down
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