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odom alpha restriction to avoid overflow caused by user-misconfiguration #3238

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merged 4 commits into from
Oct 11, 2022
Merged

odom alpha restriction to avoid overflow caused by user-misconfiguration #3238

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950d76c
odom alpha restriction
Cryst4L9527 Oct 11, 2022
b673938
odom alpha code style
Cryst4L9527 Oct 11, 2022
ec5adb5
odom alpha code style
Cryst4L9527 Oct 11, 2022
d639b1a
odom alpha code style
Cryst4L9527 Oct 11, 2022
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35 changes: 35 additions & 0 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1158,18 +1158,53 @@ AmclNode::dynamicParametersCallback(
if (param_type == ParameterType::PARAMETER_DOUBLE) {
if (param_name == "alpha1") {
alpha1_ = parameter.as_double();
//alpha restricted to be non-negative
if (alpha1_ < 0.0) {
RCLCPP_WARN(
get_logger(), "You've set alpha1 to be negative,"
" this isn't allowed, so the alpha1 will be set to be zero.");
alpha1_ = 0.0;
}
reinit_odom = true;
} else if (param_name == "alpha2") {
alpha2_ = parameter.as_double();
//alpha restricted to be non-negative
if (alpha2_ < 0.0) {
RCLCPP_WARN(
get_logger(), "You've set alpha2 to be negative,"
" this isn't allowed, so the alpha2 will be set to be zero.");
alpha2_ = 0.0;
}
reinit_odom = true;
} else if (param_name == "alpha3") {
alpha3_ = parameter.as_double();
//alpha restricted to be non-negative
if (alpha3_ < 0.0) {
RCLCPP_WARN(
get_logger(), "You've set alpha3 to be negative,"
" this isn't allowed, so the alpha3 will be set to be zero.");
alpha3_ = 0.0;
}
reinit_odom = true;
} else if (param_name == "alpha4") {
alpha4_ = parameter.as_double();
//alpha restricted to be non-negative
if (alpha4_ < 0.0) {
RCLCPP_WARN(
get_logger(), "You've set alpha4 to be negative,"
" this isn't allowed, so the alpha4 will be set to be zero.");
alpha4_ = 0.0;
}
reinit_odom = true;
} else if (param_name == "alpha5") {
alpha5_ = parameter.as_double();
//alpha restricted to be non-negative
if (alpha5_ < 0.0) {
RCLCPP_WARN(
get_logger(), "You've set alpha5 to be negative,"
" this isn't allowed, so the alpha5 will be set to be zero.");
alpha5_ = 0.0;
}
reinit_odom = true;
} else if (param_name == "beam_skip_distance") {
beam_skip_distance_ = parameter.as_double();
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