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[MPPI] Fix segfault in path_follow_critic when path is empty #3484

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Mar 16, 2023
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[MPPI] Fix segfault in path_follow_critic when path is empty #3484

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5 changes: 3 additions & 2 deletions nav2_mppi_controller/src/critics/path_follow_critic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,15 +34,16 @@ void PathFollowCritic::initialize()

void PathFollowCritic::score(CriticData & data)
{
if (!enabled_ ||
const size_t path_size = data.path.x.shape(0) - 1;

if (!enabled_ || path_size == 0 ||
utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path))
{
return;
}

utils::setPathFurthestPointIfNotSet(data);
utils::setPathCostsIfNotSet(data, costmap_ros_);
const size_t path_size = data.path.x.shape(0) - 1;

auto offseted_idx = std::min(
*data.furthest_reached_path_point + offset_from_furthest_, path_size);
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