fix(ndt_scan_matcher): added error handling about update_ndt #6560
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Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
SakodaShintaro
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6560 +/- ##
==========================================
- Coverage 15.19% 14.81% -0.39%
==========================================
Files 1851 1917 +66
Lines 128656 132007 +3351
Branches 39297 39239 -58
==========================================
+ Hits 19550 19551 +1
- Misses 87279 90641 +3362
+ Partials 21827 21815 -12
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
SakodaShintaro
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KYabuuchi,
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YamatoAndo
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anhnv3991
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Mar 8, 2024
SakodaShintaro
merged commit 1f6ed4a
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autowarefoundation:main
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HansRobo
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Mar 12, 2024
Added error handling about update_ndt Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: Anh Nguyen <anh.nguyen.2@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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Mar 22, 2024
…efoundation#6560) Added error handling about update_ndt Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: Anh Nguyen <anh.nguyen.2@tier4.jp> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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…efoundation#6560) Added error handling about update_ndt Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: Anh Nguyen <anh.nguyen.2@tier4.jp>
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Description
The current
ndt_scan_matchercrashes if the initial pose is placed far from the PCD map.This is because in the case where
update_ndtfails,voxel_centroids_ptr_of ndt remains nullptr and is referenced in subsequent code.This pull request works around this issue by adding error handling.
Tests performed
It has been confirmed that the
logging_simulatorruns with the same accuracy as before on AWSIM data with GT.Effects on system behavior
Placing the initial position estimate far from the PCD no longer causes a crash.
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