fix(probabilistic_occupancy_gridmap): prevent node death by adding lookupTransform exception in util function #4713
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Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4713 +/- ##
=======================================
Coverage 14.89% 14.89%
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Files 1547 1547
Lines 106607 106610 +3
Branches 32603 32606 +3
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+ Hits 15876 15882 +6
+ Misses 73426 73420 -6
- Partials 17305 17308 +3
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Aug 23, 2023
…okupTransform exception in util function (autowarefoundation#4713) * add lookupTransform exception in util function and add launch_test Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
Pointcloud based occupancy grid map generation node sometimes died by null pointcloud input. (see figure below)
This PR enables to prevent this error by fixing util function and its effectiveness is tested with launch_test.
TIER IV INTERNAL TICKET
Tests performed
Tested in launch_test.
Effects on system behavior
Not applicable.
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