Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

add validation check for scan-message #1151

Merged
merged 5 commits into from
Jul 1, 2024
Merged

add validation check for scan-message #1151

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
da6a66a
add validation check for scan-message
Apr 27, 2024
c9fe7e4
Merge branch 'master' into master
matlabbe Apr 29, 2024
0c235ac
remove abundant logger
Apr 29, 2024
5007caa
fit into main
Jun 27, 2024
f049e79
Added logs when scans are rejected. Just checking input scan topic fo…
matlabbe Jun 30, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 18 additions & 0 deletions rtabmap_conversions/src/MsgConversion.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2591,6 +2591,24 @@ bool convertScanMsg(
double waitForTransform,
bool outputInFrameId)
{
// scan message validation check
if(scan2dMsg.angle_increment == 0.0f) {
ROS_ERROR("convertScanMsg: angle_increment should not be 0!");
return false;
}
if(scan2dMsg.range_min > scan2dMsg.range_max) {
ROS_ERROR("convertScanMsg: range_min (%f) should be smaller than range_max (%f)!", scan2dMsg.range_min, scan2dMsg.range_max);
return false;
}
if(scan2dMsg.angle_increment > 0 && scan2dMsg.angle_max < scan2dMsg.angle_min) {
ROS_ERROR("convertScanMsg: Angle increment (%f) should be negative if angle_min(%f) > angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}
else if (scan2dMsg.angle_increment < 0 && scan2dMsg.angle_max > scan2dMsg.angle_min) {
ROS_ERROR("convertScanMsg: Angle increment (%f) should positive if angle_min(%f) < angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}

// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = getMovingTransform(
scan2dMsg.header.frame_id,
Expand Down
Loading