Fix segfault when camara model is not still available

Signed-off-by: Francisco Martín Rico <[email protected]>
IntelligentRoboticsLabs · Aug 12, 2024 · bd1144d · bd1144d
1 parent f438c17
commit bd1144d
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Showing 3 changed files with 5 additions and 1 deletion.
diff --git a/local_navigation/config/params_go2.yaml b/local_navigation/config/params_go2.yaml
@@ -7,6 +7,8 @@ gridmap_updater_node:
     map_frame: map
     robot_frame: base_link
     camera_frame: camera_color_optical_frame
+    size_x: 200.0
+    size_y: 200.0
 
 scan_matcher:
   ros__parameters:

diff --git a/local_navigation/launch/local_navigation_go2.launch.py b/local_navigation/launch/local_navigation_go2.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
                                 executable='local_navigation_program',
                                 output='screen',
                                 parameters=[param_file],
-                                # prefix=['xterm -e gdb -ex run  --args'],
+                                # prefix=['xterm -e gdb -ex run --args'],
                                 # prefix=['perf record --call-graph dwarf -o perf.data'],
                                 arguments=[],
                                 remappings=[])

diff --git a/local_navigation/src/local_navigation/GridmapUpdaterNode.cpp b/local_navigation/src/local_navigation/GridmapUpdaterNode.cpp
@@ -492,6 +492,8 @@ GridmapUpdaterNode::update_gridmap_texture(
 void
 GridmapUpdaterNode::image_callback(sensor_msgs::msg::Image::UniquePtr msg)
 {
+  if (camera_model_ == nullptr) {return;}
+
   cv_bridge::CvImagePtr image_rgb_ptr;
 
   try {