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fix(probabilistic_occupancy_gridmap): prevent node death by adding lookupTransform exception in util function #4713

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Aug 23, 2023
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fix(probabilistic_occupancy_gridmap): prevent node death by adding lookupTransform exception in util function #4713

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2a3b026
add lookupTransform exception in util function and add launch_test
YoshiRi Aug 22, 2023
eab9db4
style(pre-commit): autofix
pre-commit-ci[bot] Aug 22, 2023
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12 changes: 10 additions & 2 deletions perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,16 @@ bool transformPointcloud(
const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output)
{
geometry_msgs::msg::TransformStamped tf_stamped;
tf_stamped = tf2.lookupTransform(
target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5));
// lookup transform
try {
tf_stamped = tf2.lookupTransform(
target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5));
} catch (tf2::TransformException & ex) {
RCLCPP_WARN(
rclcpp::get_logger("probabilistic_occupancy_grid_map"), "Failed to lookup transform: %s",
ex.what());
return false;
}
// transform pointcloud
Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast<float>();
pcl_ros::transformPointCloud(tf_matrix, input, output);
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23 changes: 23 additions & 0 deletions perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
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Original file line number Diff line number Diff line change
Expand Up @@ -238,6 +238,29 @@ def test_null_input(self, proc_info):
self.assertIn("occupancy_grid_map_node", nodes)
self.assertEqual(len(self.msg_buffer), 1)

def test_null_input2(self, proc_info):
"""Test null input.

input: null pointcloud without even frame_id
output: null ogm
"""
# wait for the node to be ready
time.sleep(3)
input_points = []
pub_raw, pub_obstacle, sub = self.create_pub_sub()
# publish input pointcloud
pt_msg = get_pointcloud_msg(input_points)
pt_msg.header.frame_id = ""
pub_raw.publish(pt_msg)
pub_obstacle.publish(pt_msg)
# try to subscribe output pointcloud once
rclpy.spin_once(self.node, timeout_sec=3.0)

# check if process is successfully terminated
nodes = self.node.get_node_names()
self.assertIn("occupancy_grid_map_node", nodes)
self.assertEqual(len(self.msg_buffer), 0)


@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
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