planner_cspace: fix error status handling after cost_estim_cache_ was not created #705
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nhatao
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Codecov Report
@@ Coverage Diff @@
## master #705 +/- ##
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+ Coverage 88.13% 88.31% +0.18%
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Files 60 60
Lines 4323 4330 +7
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+ Hits 3810 3824 +14
+ Misses 513 506 -7
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nhatao
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There is still a problem. Changed to WIP |
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[459] PASSED on noeticAll tests passed |
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In the current master branch, When
cnt_stuck_has a positive value,status.errorbecomesPATH_NOT_FOUND. The value ofcnt_stuck_is incremented when the start or the goal cell is occupied, and it is retained even after the occupied cell is cleared and path planning is succeeded. Therefore, thestatus.errornever returns toGOING_WELLin such cases. In addition, when the start cell is occupied,status.errorshould becomeIN_ROCK.This bug is introduced by db25329.
In this PR,
cost_estim_cache_created_is used to check if the start or goal cell is occupied instead ofcnt_stuck_.In addition,
is_start_occupied_flag is added to distinguishIN_ROCKstatus.Some inappropriate names of functions and variables are renamed.