Return early from edge interpolation for zero-length edges #5453
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
emersonknapp
force-pushed
the
emerson/fix-route-server-infinite-loop
branch
from
516da20 to
e53fba8
Compare
Codecov Report✅ All modified and coverable lines are covered by tests.
... and 3 files with indirect coverage changes 🚀 New features to boost your workflow:
|
SteveMacenski
requested changes
Aug 13, 2025
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
emersonknapp
force-pushed
the
emerson/fix-route-server-infinite-loop
branch
from
e53fba8 to
4278f93
Compare
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
emersonknapp
force-pushed
the
emerson/fix-route-server-infinite-loop
branch
from
4278f93 to
8d75149
Compare
Contributor
Author
|
@SteveMacenski Added unit test and addressed review comment |
SteveMacenski
approved these changes
Aug 26, 2025
bkoensgen
pushed a commit
to bkoensgen/navigation2
that referenced
this pull request
Aug 29, 2025
…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
armgits
pushed a commit
to armgits/navigation2
that referenced
this pull request
Sep 5, 2025
…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
armgits
pushed a commit
to armgits/navigation2
that referenced
this pull request
Sep 5, 2025
…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me>
silanus23
pushed a commit
to silanus23/navigation2
that referenced
this pull request
Sep 18, 2025
…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
SteveMacenski
pushed a commit
that referenced
this pull request
Sep 19, 2025
* Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
SteveMacenski
added a commit
that referenced
this pull request
Sep 20, 2025
* Return early from edge interpolation for zero-length edges (#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * nav2_route vizualization marker rendering performance improvement (#5452) * nav2_route vizualization marker use sphere_list and line_list for rendering performance Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Fix unit test and break out magic constants into named values Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Fix dynamic param SmacPlannerLattice (#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix duplicate poses with computePlanThroughPoses (#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix seg fault (#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Route graph vis fixes: Fixes regressions from #5452 (#5507) * Fixes for route graph Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix route graph vis Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Removing openMP dep on MPPI (#5506) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Add debug topic to visualize whether MPPI critic has an effect on costs (#5485) * Publish criticsStats Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change header to stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * make unique_pointer Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * typo Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add readme Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add to readme Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export_dependencies (#5514) Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt> * Fix/dependency and header (#5520) * Add missing dependency declaration Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Remove unused header Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> --------- Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * bump to 1.4.2 for kilted release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Adding critic manager for refactor Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Update API refactor Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * API updates Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix formatting issues in critic_manager.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt> Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: João Penha Lopes <123633705+JPLDevMaster@users.noreply.github.com> Co-authored-by: Sushant Chavan <sushant.chavan@idealworks.com>
BCKSELFDRIVEWORLD
pushed a commit
to BCKSELFDRIVEWORLD/navigation2
that referenced
this pull request
Sep 23, 2025
…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Move the check and add a test Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
Description of contribution in a few bullet points
When a zero-length edge in a route graph is in a calculated route, the
densifyfunction for the resulting path would go into an infinite loop pushing points to a vector until running out of memory and crashing.Description of documentation updates required from your changes
None
Description of how this change was tested
Added a unit test that definitely fails before adding the fix.
I've been running it on simulation examples with a route graph that has zero length edges.
Future work that may be required in bullet points
N/A
For Maintainers:
backport-*.