From cd74a1c708f1de80b784fbf1c7078fd54c7ddb37 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 26 Aug 2022 12:17:30 +0200
Subject: [PATCH] Improved the way of handling the parameters.
---
src/opendrive_planner.cpp | 49 +++++++++++++++++++++++++++------------
1 file changed, 34 insertions(+), 15 deletions(-)
diff --git a/src/opendrive_planner.cpp b/src/opendrive_planner.cpp
index 46a7164..2c51eb0 100644
--- a/src/opendrive_planner.cpp
+++ b/src/opendrive_planner.cpp
@@ -87,23 +87,42 @@ void OpendriveGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D*
double resolution,scale_factor,min_road_length;
int cost_type;
- private_nh.param("resolution", resolution,0.0);
- this->roadmap.set_resolution(resolution);
- private_nh.param("scale_factor", scale_factor,0.0);
- this->roadmap.set_scale_factor(scale_factor);
- private_nh.param("min_road_length", min_road_length,0.0);
- this->roadmap.set_min_road_length(min_road_length);
- private_nh.param("opendrive_file", opendrive_file,std::string(""));
- if(opendrive_file!="")
+ if(private_nh.getParam("resolution", resolution))
+ this->roadmap.set_resolution(resolution);
+ else
+ ROS_ERROR("Map resolution not defined");
+ if(private_nh.getParam("scale_factor", scale_factor))
+ this->roadmap.set_scale_factor(scale_factor);
+ else
+ ROS_ERROR("Map scale factor not defined");
+ if(private_nh.getParam("min_road_length", min_road_length))
+ this->roadmap.set_min_road_length(min_road_length);
+ else
+ ROS_ERROR("Map minimum road length not defined");
+ if(private_nh.getParam("opendrive_file", opendrive_file))
{
- this->roadmap.load(opendrive_file);
- this->create_opendrive_map(opendrive_file,resolution,scale_factor,min_road_length);
+ if(opendrive_file!="")
+ {
+ try{
+ this->roadmap.load(opendrive_file);
+ this->create_opendrive_map(opendrive_file,resolution,scale_factor,min_road_length);
+ }catch(CException &e){
+ ROS_ERROR_STREAM(e.what());
+ }
+ }
}
- private_nh.param("opendrive_frame", this->opendrive_frame_id_,std::string(""));
- private_nh.param("angle_tol", this->angle_tol,DEFAULT_ANGLE_THRESHOLD);
- private_nh.param("dist_tol", this->dist_tol,DEFAULT_DIST_THRESHOLD);
- private_nh.param("multi_hyp", this->multi_hyp,false);
- private_nh.param("cost_type",cost_type,(int)COST_DIST);
+ else
+ ROS_ERROR("Opendrive map file not defined");
+ if(!private_nh.getParam("opendrive_frame", this->opendrive_frame_id_))
+ ROS_ERROR("Opendrive frame ID not defined");
+ if(!private_nh.getParam("angle_tol", this->angle_tol))
+ ROS_ERROR("Angle tolerance for the goals not defined");
+ if(!private_nh.getParam("dist_tol", this->dist_tol))
+ ROS_ERROR("Distance tolerance for the goals not defined");
+ if(!private_nh.getParam("multi_hyp", this->multi_hyp))
+ ROS_ERROR("Multihypotheis feature not defined");
+ if(!private_nh.getParam("cost_type",cost_type))
+ ROS_ERROR("Desired cost type not defined");
this->roadmap.set_cost_type((cost_t)cost_type);
}catch(CException &e){
ROS_ERROR_STREAM(e.what());
--
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