diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d54dcf0b4f8a8ddaec9f312d1d66d835ec476ae7..ec1cf80f6b57e4dc19dc3a24f2f7a54f4222bc9d 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
Changelog for package homer_navigation
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.8 (2016-11-21)
+------------------
+* Catch error case of obstacleMapDistance=0
+* Contributors: Malte Roosen
+
0.1.7 (2016-11-17)
------------------
* Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)
diff --git a/debian/changelog b/debian/changelog
deleted file mode 100644
index b91764723465112ada262236de6c6666628e690b..0000000000000000000000000000000000000000
--- a/debian/changelog
+++ /dev/null
@@ -1,55 +0,0 @@
-ros-kinetic-homer-navigation (0.1.7-0xenial) xenial; urgency=high
-
- * Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)
- * Introduce parameter to change behaviour after collision avoidance
- * Autoformat homer_navigation_node
- * Contributors: Malte Roosen
- * Introduce parameter to change behaviour after collision avoidance
- * Autoformat homer_navigation_node
- * Contributors: Malte Roosen
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 16 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.6-0xenial) xenial; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 03 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.5-0xenial) xenial; urgency=high
-
- * fixed dependencies
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 03 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.4-0xenial) xenial; urgency=high
-
- * fixes
- * updated changelog
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.3-0xenial) xenial; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.2-0xenial) xenial; urgency=high
-
- * install launch files
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.1-0xenial) xenial; urgency=high
-
- * fixes
- * initial commit
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
-
-
diff --git a/debian/changelog.em b/debian/changelog.em
new file mode 100644
index 0000000000000000000000000000000000000000..f288616383fe8f4543f2eb312541c6588cb3d96c
--- /dev/null
+++ b/debian/changelog.em
@@ -0,0 +1,7 @@
+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)-@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)> @(change_date)
+
+@[end for]
diff --git a/debian/compat b/debian/compat
deleted file mode 100644
index f11c82a4cb6cc2e8f3bdf52b5cdeaad4d5bb214e..0000000000000000000000000000000000000000
--- a/debian/compat
+++ /dev/null
@@ -1 +0,0 @@
-9
\ No newline at end of file
diff --git a/debian/compat.em b/debian/compat.em
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8528bffbd06395de8fb99042c25b1448f311a
--- /dev/null
+++ b/debian/compat.em
@@ -0,0 +1 @@
+@(debhelper_version)
\ No newline at end of file
diff --git a/debian/control b/debian/control
deleted file mode 100644
index c94a91d4293b1df88caacab14e44d2b0a0c1ae60..0000000000000000000000000000000000000000
--- a/debian/control
+++ /dev/null
@@ -1,12 +0,0 @@
-Source: ros-kinetic-homer-navigation
-Section: misc
-Priority: extra
-Maintainer: Viktor Seib <vseib@uni-koblenz.de>
-Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, ros-kinetic-catkin, ros-kinetic-cmake-modules, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Homepage:
-Standards-Version: 3.9.2
-
-Package: ros-kinetic-homer-navigation
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libeigen3-dev, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Description: The homer_navigation package
diff --git a/debian/control.em b/debian/control.em
new file mode 100644
index 0000000000000000000000000000000000000000..7cbf65a6a90b7b5f71439e8067643e802e54f540
--- /dev/null
+++ b/debian/control.em
@@ -0,0 +1,14 @@
+Source: @(Package)
+Section: misc
+Priority: extra
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Description: @(Description)
diff --git a/debian/gbp.conf b/debian/gbp.conf
deleted file mode 100644
index f38334aba87aed83b73ca527bf76e29aaa91b998..0000000000000000000000000000000000000000
--- a/debian/gbp.conf
+++ /dev/null
@@ -1,3 +0,0 @@
-[git-buildpackage]
-upstream-tag=release/kinetic/homer_navigation/0.1.7-0
-upstream-tree=tag
diff --git a/debian/gbp.conf.em b/debian/gbp.conf.em
new file mode 100644
index 0000000000000000000000000000000000000000..ad24a164d06a7971a9dcca990e935fea39b6ce88
--- /dev/null
+++ b/debian/gbp.conf.em
@@ -0,0 +1,3 @@
+[git-buildpackage]
+upstream-tag=@(release_tag)
+upstream-tree=tag
diff --git a/debian/rules b/debian/rules.em
similarity index 76%
rename from debian/rules
rename to debian/rules.em
index d97f2ecbe2e5158f91889dc8000a7cbb14a881cf..991c991b8775b882ef271fcac740ace8675e7538 100755
--- a/debian/rules
+++ b/debian/rules.em
@@ -14,29 +14,29 @@ export DH_OPTIONS=-v --buildsystem=cmake
# https://code.ros.org/trac/ros/ticket/2977
# https://code.ros.org/trac/ros/ticket/3842
export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
# Explicitly enable -DNDEBUG, see:
# https://github.com/ros-infrastructure/bloom/issues/327
export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
%:
- dh $@
+ dh $@@
override_dh_auto_configure:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_configure -- \
-DCATKIN_BUILD_BINARY_PACKAGE="1" \
- -DCMAKE_INSTALL_PREFIX="/opt/ros/kinetic" \
- -DCMAKE_PREFIX_PATH="/opt/ros/kinetic"
+ -DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+ -DCMAKE_PREFIX_PATH="@(InstallationPrefix)"
override_dh_auto_build:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_build
override_dh_auto_test:
@@ -44,19 +44,19 @@ override_dh_auto_test:
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
echo -- Running tests. Even if one of them fails the build is not canceled.
- if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_test || true
override_dh_shlibdeps:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
- dh_shlibdeps -l$(CURDIR)/debian/ros-kinetic-homer-navigation//opt/ros/kinetic/lib/
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+ dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
override_dh_auto_install:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_install
diff --git a/package.xml b/package.xml
index 5a8209a2570c095bf6f7674cc8d76ba958289e7d..8ea3ce7b6b6580a1ce7332b78b010dc25c905328 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>homer_navigation</name>
- <version>0.1.7</version>
+ <version>0.1.8</version>
<description>The homer_navigation package</description>
<maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
diff --git a/src/homer_navigation_node.cpp b/src/homer_navigation_node.cpp
index d99b8ee16a86a156da2cfdc9998e9eef04004086..f63498e2437e0fd28ee6e354c631e856eb646b68 100644
--- a/src/homer_navigation_node.cpp
+++ b/src/homer_navigation_node.cpp
@@ -531,6 +531,11 @@ void HomerNavigationNode::performNextMove() {
(float)(m_explorer->getObstacleTransform()->getValue(
robotPixel.x(), robotPixel.y()) *
m_resolution));
+ if (obstacleMapDistance <= 0.00001) {
+ ROS_ERROR_STREAM(
+ "obstacleMapDistance is below threshold to 0 setting to 1");
+ obstacleMapDistance = 1;
+ }
}
float max_move_distance_speed =