modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 17:26:20 -04:00
parent f551cafc31
commit 638077ee74
1 changed files with 2 additions and 1 deletions
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3
src/modelec_strat/src/pathfinding.cpp
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@@ -296,12 +296,13 @@ namespace Modelec
const double goal_x = goal->x / cell_size_mm_x;
const double goal_y = (grid_height_ - 1) - (goal->y / cell_size_mm_y);
RCLCPP_INFO(node_->get_logger(), "Start: (%f, %f), Goal: (%f, %f)", start_x, start_y, goal_x, goal_y);
if (start_x < 0 || start_y < 0 || goal_x < 0 || goal_y < 0 ||
start_x >= grid_width_ || start_y >= grid_height_ ||
goal_x >= grid_width_ || goal_y >= grid_height_)
{
RCLCPP_WARN(node_->get_logger(), "Start or Goal out of bounds");
RCLCPP_WARN(node_->get_logger(), "Start: (%f, %f), Goal: (%f, %f)", start_x, start_y, goal_x, goal_y);
return {-2, waypoints};
}