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Aborting path planned on "last node not found" error

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Mathieu Labbe
2015-05-04 18:35:29 -04:00
parent 1febdfd183
commit 0b5d6c84b1
1 changed files with 2 additions and 1 deletions
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3
corelib/src/Rtabmap.cpp
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@@ -3099,7 +3099,8 @@ void Rtabmap::updateGoalIndex()
if(_memory->getLastWorkingSignature() == 0 || if(_memory->getLastWorkingSignature() == 0 ||
!uContains(_optimizedPoses, _memory->getLastWorkingSignature()->id())) !uContains(_optimizedPoses, _memory->getLastWorkingSignature()->id()))
{ {
UERROR("Last node is null in memory or not in optimized poses"); UERROR("Last node is null in memory or not in optimized poses. Aborting the plan...");
this->clearPath();
return; return;
} }