Ignore temporary escape trigger if map is not received (#770)

at-wat · web-flow · commit fbcc283f9658 · 2025-05-12T19:09:06.000+09:00
diff --git a/planner_cspace/src/planner_3d.cpp b/planner_cspace/src/planner_3d.cpp
@@ -258,6 +258,11 @@ class Planner3dNode
   }
   void cbTemporaryEscape(const std_msgs::Empty::ConstPtr&)
   {
+    if (!has_map_)
+    {
+      // metric2Grid requires map_info_
+      return;
+    }
     updateTemporaryEscapeGoal(metric2Grid(start_.pose), false);
   }
   enum class DiscretePoseStatus

Original file line number	Diff line number	Diff line change
`@@ -258,6 +258,11 @@ class Planner3dNode`
`258`	`258`	`}`
`259`	`259`	`void cbTemporaryEscape(const std_msgs::Empty::ConstPtr&)`
`260`	`260`	`{`
	`261`	`+ if (!has_map_)`
	`262`	`+ {`
	`263`	`+ // metric2Grid requires map_info_`
	`264`	`+ return;`
	`265`	`+ }`
`261`	`266`	`updateTemporaryEscapeGoal(metric2Grid(start_.pose), false);`
`262`	`267`	`}`
`263`	`268`	`enum class DiscretePoseStatus`