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Issue 1608 segmentation fault planner server node master #1612

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merged 3 commits into from
Mar 26, 2020
Merged

Issue 1608 segmentation fault planner server node master #1612

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a481b65
corrected wrong indexing in NavfnPlanner::smoothApproachToGoal function
Mar 24, 2020
bfbe65b
resolved uncrustify errors
Mar 25, 2020
37552d1
corrected the condition inside NavfnPlanner::smoothApproachToGoal to …
Mar 25, 2020
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25 changes: 13 additions & 12 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,19 +257,20 @@ NavfnPlanner::smoothApproachToGoal(
{
// Replace the last pose of the computed path if it's actually further away
// to the second to last pose than the goal pose.

auto second_to_last_pose = plan.poses.end()[-2];
auto last_pose = plan.poses.back();
if (
squared_distance(last_pose.pose, second_to_last_pose.pose) >
squared_distance(goal, second_to_last_pose.pose))
{
plan.poses.back().pose = goal;
} else {
geometry_msgs::msg::PoseStamped goal_copy;
goal_copy.pose = goal;
plan.poses.push_back(goal_copy);
if (plan.poses.size() >= 2) {
auto second_to_last_pose = plan.poses.end()[-2];
auto last_pose = plan.poses.back();
if (
squared_distance(last_pose.pose, second_to_last_pose.pose) >
squared_distance(goal, second_to_last_pose.pose))
{
plan.poses.back().pose = goal;
return;
}
}
geometry_msgs::msg::PoseStamped goal_copy;
goal_copy.pose = goal;
plan.poses.push_back(goal_copy);
}

bool
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