Sending a request to go to a node with a name which is not in the map would raise an exception rather than doing something about it. The if condition was not correctly checking if the nodes returned were None.
Error before:
[INFO] [1599657490.175769, 11371.165000]: Navigating Take : 0
[ERROR] [1599657490.176622, 11371.166000]: Exception in your execute callback: 'NoneType' object has no attribute 'name'
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 289, in executeLoop
self.execute_callback(goal)
File "/home/michal/robots/goals/goals_ws/src/topological_navigation/topological_navigation/scripts/navigation.py", line 246, in executeCallback
self.navigate(goal.target)
File "/home/michal/robots/goals/goals_ws/src/topological_navigation/topological_navigation/scripts/navigation.py", line 331, in navigate
if(g_node.name == o_node.name) :
AttributeError: 'NoneType' object has no attribute 'name'
Result now:
[INFO] [1599657892.484037, 11734.063000]: Navigating From WayPoint1 to asdf
[INFO] [1599657892.485171, 11734.064000]: Navigating Take : 0
[ERROR] [1599657892.486047, 11734.065000]: One of the node names does not exist in the map. Aborting.
marc-hanheide
commented
1 year ago
Sending a request to go to a node with a name which is not in the map would raise an exception rather than doing something about it. The if condition was not correctly checking if the nodes returned were None.
Error before:
Result now: