From f9656e1497e95706d3dbcc0f404d1624be7aa2a0 Mon Sep 17 00:00:00 2001
From: Malte Roosen <mroosen@uni-koblenz.de>
Date: Mon, 21 Nov 2016 16:56:42 +0000
Subject: [PATCH] Catch error case of obstacleMapDistance=0
---
homer_navigation/src/homer_navigation_node.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/homer_navigation/src/homer_navigation_node.cpp b/homer_navigation/src/homer_navigation_node.cpp
index d99b8ee1..f63498e2 100644
--- a/homer_navigation/src/homer_navigation_node.cpp
+++ b/homer_navigation/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 =
--
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