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fix(nav2_theta_star_planner): Planner Server Crashing When Planning Outside Map Bounds with Theta* on Humble #4706

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merged 1 commit into from
Oct 4, 2024
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fix(nav2_theta_star_planner): Planner Server Crashing When Planning Outside Map Bounds with Theta* on Humble #4706

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16 changes: 14 additions & 2 deletions nav2_theta_star_planner/src/theta_star_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,8 +95,20 @@ nav_msgs::msg::Path ThetaStarPlanner::createPlan(

// Corner case of start and goal beeing on the same cell
unsigned int mx_start, my_start, mx_goal, my_goal;
planner_->costmap_->worldToMap(start.pose.position.x, start.pose.position.y, mx_start, my_start);
planner_->costmap_->worldToMap(goal.pose.position.x, goal.pose.position.y, mx_goal, my_goal);
if (!planner_->costmap_->worldToMap(
start.pose.position.x, start.pose.position.y, mx_start, my_start))
{
RCLCPP_WARN(logger_, "Start Coordinates were outside map bounds");
return global_path;
}

if (!planner_->costmap_->worldToMap(
goal.pose.position.x, goal.pose.position.y, mx_goal, my_goal))
{
RCLCPP_WARN(logger_, "Goal Coordinates were outside map bounds");
return global_path;
}

if (mx_start == mx_goal && my_start == my_goal) {
if (planner_->costmap_->getCost(mx_start, my_start) == nav2_costmap_2d::LETHAL_OBSTACLE) {
RCLCPP_WARN(logger_, "Failed to create a unique pose path because of obstacles");
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