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catch runtime_error if the message from laser is malformed #2511

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merged 2 commits into from
Aug 17, 2021
Merged

catch runtime_error if the message from laser is malformed #2511

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dd895d2
catch runtime_error if the message from laser is malformed
Aug 16, 2021
c92cd3d
fix styling
Aug 17, 2021
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12 changes: 12 additions & 0 deletions nav2_costmap_2d/plugins/obstacle_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -291,6 +291,12 @@ ObstacleLayer::laserScanCallback(
global_frame_.c_str(),
ex.what());
projector_.projectLaser(*message, cloud);
} catch (std::runtime_error &ex) {
RCLCPP_WARN(
logger_,
"transformLaserScanToPointCloud error, it seems the message from laser is malformed. Ignore this message. what(): %s",
ex.what());
return; //ignore this message
}

// buffer the point cloud
Expand Down Expand Up @@ -327,6 +333,12 @@ ObstacleLayer::laserScanValidInfCallback(
"High fidelity enabled, but TF returned a transform exception to frame %s: %s",
global_frame_.c_str(), ex.what());
projector_.projectLaser(message, cloud);
} catch (std::runtime_error &ex) {
RCLCPP_WARN(
logger_,
"transformLaserScanToPointCloud error, it seems the message from laser is malformed. Ignore this message. what(): %s",
ex.what());
return; //ignore this message
}

// buffer the point cloud
Expand Down