fix(start/goal_planner): fix freespace planning error handling (#8246)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jul 30, 2024 · 676ed58 · 676ed58
1 parent 28e2cda
commit 676ed58
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Showing 2 changed files with 12 additions and 4 deletions.
diff --git a/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
@@ -58,7 +58,12 @@ std::optional<PullOverPath> FreespacePullOver::plan(const Pose & goal_pose)
   const Pose end_pose =
     use_back_ ? goal_pose
               : autoware::universe_utils::calcOffsetPose(goal_pose, -straight_distance, 0.0, 0.0);
-  if (!planner_->makePlan(current_pose, end_pose)) {
+
+  try {
+    if (!planner_->makePlan(current_pose, end_pose)) {
+      return {};
+    }
+  } catch (const std::exception & e) {
     return {};
   }
 

diff --git a/...avior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/...avior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp
@@ -54,9 +54,12 @@ std::optional<PullOutPath> FreespacePullOut::plan(
 
   planner_->setMap(*planner_data_->costmap);
 
-  const bool found_path = planner_->makePlan(start_pose, end_pose);
-  if (!found_path) {
-    planner_debug_data.conditions_evaluation.emplace_back("no path found");
+  try {
+    if (!planner_->makePlan(start_pose, end_pose)) {
+      planner_debug_data.conditions_evaluation.emplace_back("no path found");
+      return {};
+    }
+  } catch (const std::exception & e) {
     return {};
   }