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Updated error msg when graph cannot be computed from id

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matlabbe
2016-08-31 12:45:55 -04:00
parent 9b603e57d2
commit 62ef687abd
1 changed files with 8 additions and 1 deletions
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src/CoreWrapper.cpp
+7
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@@ -1553,9 +1553,16 @@ void CoreWrapper::goalCommonCallback(
ROS_ERROR("Planning: Node with label \"%s\" not found!", label.c_str()); ROS_ERROR("Planning: Node with label \"%s\" not found!", label.c_str());
} }
else if(pose.isNull()) else if(pose.isNull())
{
if(id > 0)
{
ROS_ERROR("Planning: Could not plan to node %d! The node is not in map's graph (look for warnings before this message for more details).", id);
}
else
{ {
ROS_ERROR("Planning: Node id should be > 0 !"); ROS_ERROR("Planning: Node id should be > 0 !");
} }
}
else else
{ {
ROS_ERROR("Planning: A node near the goal's pose not found! The pose may be to far from the graph (RGBD/LocalRadius=%f m)", rtabmap_.getLocalRadius()); ROS_ERROR("Planning: A node near the goal's pose not found! The pose may be to far from the graph (RGBD/LocalRadius=%f m)", rtabmap_.getLocalRadius());