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AMRNAV-3826 Fix for nav2_velocity_smoother#8

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HovorunB merged 3 commits intohumblefrom
AMRNAV-3826_smoother_driving
Jan 13, 2023
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AMRNAV-3826 Fix for nav2_velocity_smoother#8
HovorunB merged 3 commits intohumblefrom
AMRNAV-3826_smoother_driving

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@HovorunB HovorunB commented Jan 9, 2023 •
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Basic Info

Info Fix for nav2_velocity_smoother
Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

Related deep_cv PR: https://github.com/logivations/deep_cv/pull/4793

Description of contribution in a few bullet points

  • Added condition to fix an error when using sim time

Screenshot from 2023-01-09 08-37-25

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

@HovorunB HovorunB added the bug Something isn't working label Jan 9, 2023
@HovorunB HovorunB requested a review from tonynajjar January 9, 2023 07:49
@HovorunB HovorunB self-assigned this Jan 9, 2023
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tonynajjar commented Jan 9, 2023

Can you please clarify to me how the condition being none contributes to command_ being null? command_ is not in the condition

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HovorunB commented Jan 9, 2023 •
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Can you please clarify to me how the condition being none contributes to command_ being null? command_ is not in the condition

If we use sim time the condition is false on startup. And if the condition is false we proceed to access command_'s properties which leads to an error since command_ is a nullptr on startup

tonynajjar
tonynajjar approved these changes Jan 13, 2023
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Please fix like it was fixed in upstream

@HovorunB HovorunB merged commit 2e79f94 into humble Jan 13, 2023
@HovorunB HovorunB deleted the AMRNAV-3826_smoother_driving branch January 13, 2023 15:23
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