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fix(gnss_poser): no conversion when projection type is local #6356

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merged 2 commits into from
Feb 9, 2024
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fix(gnss_poser): no conversion when projection type is local #6356

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fix(gnss_poser): no conversion when projection type is local
isamu-takagi Feb 8, 2024
f1fb31c
Merge branch 'main' into fix/gnss-poser-local-projection-type
isamu-takagi Feb 8, 2024
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7 changes: 7 additions & 0 deletions sensing/gnss_poser/src/gnss_poser_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,13 @@
return;
}

if (projector_info_.projector_type == MapProjectorInfo::Message::LOCAL) {
RCLCPP_ERROR_THROTTLE(

Check warning on line 82 in sensing/gnss_poser/src/gnss_poser_core.cpp

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sensing/gnss_poser/src/gnss_poser_core.cpp#L81-L82 

Added lines #L81 - L82 were not covered by tests
this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(),
"map_projector_info is local projector type. Unable to convert GNSS pose.");
return;

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sensing/gnss_poser/src/gnss_poser_core.cpp#L85 

Added line #L85 was not covered by tests
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

GNSSPoser::callbackNavSatFix increases in cyclomatic complexity from 11 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
// check fixed topic
const bool is_fixed = isFixed(nav_sat_fix_msg_ptr->status);

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