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map-size restriction to avoid overflow and nullptr caused by user-misconfiguration #3242

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Merged
merged 11 commits into from
Oct 14, 2022
Merged

map-size restriction to avoid overflow and nullptr caused by user-misconfiguration #3242

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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
a457fd5
Merge branch 'ros-planning:main' into main
Cryst4L9527 Oct 12, 2022
1c0827d
map-size restriction
Cryst4L9527 Oct 12, 2022
b5ee0b5
Merge branch 'main' of https://github.com/Cryst4L9527/navigation2 int…
Cryst4L9527 Oct 12, 2022
2005e28
map-size code style
Cryst4L9527 Oct 12, 2022
79ecfb0
map-size rejection
Cryst4L9527 Oct 13, 2022
e8d73d5
map-size codestyle
Cryst4L9527 Oct 13, 2022
44c7dbf
map-size return false
Cryst4L9527 Oct 14, 2022
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20 changes: 16 additions & 4 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -657,11 +657,23 @@ Costmap2DROS::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameter
}
} else if (type == ParameterType::PARAMETER_INTEGER) {
if (name == "width") {
resize_map = true;
map_width_meters_ = parameter.as_int();
if (parameter.as_int() > 0) {
resize_map = true;
map_width_meters_ = parameter.as_int();
} else {
RCLCPP_ERROR(
get_logger(), "You try to set width of map to be negative or zero,"
" this isn't allowed, please give a positive value.");
}
} else if (name == "height") {
resize_map = true;
map_height_meters_ = parameter.as_int();
if (parameter.as_int() > 0) {
resize_map = true;
map_height_meters_ = parameter.as_int();
} else {
RCLCPP_ERROR(
get_logger(), "You try to set height of map to be negative or zero,"
" this isn't allowed, please give a positive value.");
}
}
} else if (type == ParameterType::PARAMETER_STRING) {
if (name == "footprint") {
Expand Down