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add validation check for scan-message (#1151)

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* add validation check for scan-message

Signed-off-by: goes <[email protected]>

* remove abundant logger

Signed-off-by: goes <[email protected]>

* fit into main

Signed-off-by: GoesM <[email protected]>

---------

Signed-off-by: goes <[email protected]>
Signed-off-by: GoesM <[email protected]>
Co-authored-by: goes <[email protected]>
Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
GoesM
2024-07-01 08:15:12 -07:00
committed by GitHub
co-authored by goes matlabbe
parent 76c6a1fa8f
commit 680fe729c5
1 changed files with 18 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+18
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@@ -2591,6 +2591,24 @@ bool convertScanMsg(
double waitForTransform, double waitForTransform,
bool outputInFrameId) bool outputInFrameId)
{ {
// scan message validation check
if(scan2dMsg.angle_increment == 0.0f) {
ROS_ERROR("convertScanMsg: angle_increment should not be 0!");
return false;
}
if(scan2dMsg.range_min > scan2dMsg.range_max) {
ROS_ERROR("convertScanMsg: range_min (%f) should be smaller than range_max (%f)!", scan2dMsg.range_min, scan2dMsg.range_max);
return false;
}
if(scan2dMsg.angle_increment > 0 && scan2dMsg.angle_max < scan2dMsg.angle_min) {
ROS_ERROR("convertScanMsg: Angle increment (%f) should be negative if angle_min(%f) > angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}
else if (scan2dMsg.angle_increment < 0 && scan2dMsg.angle_max > scan2dMsg.angle_min) {
ROS_ERROR("convertScanMsg: Angle increment (%f) should positive if angle_min(%f) < angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}
// make sure the frame of the laser is updated during the whole scan time // make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = getMovingTransform( rtabmap::Transform tmpT = getMovingTransform(
scan2dMsg.header.frame_id, scan2dMsg.header.frame_id,