Merge pull request #37 from ethz-asl/fix/default_altitude

rikba · web-flow · commit 91f341abcabf · 2020-07-21T13:55:48.000+02:00
Set default altitude if no altitude was set.
diff --git a/polygon_coverage_ros/include/polygon_coverage_ros/coverage_planner.h b/polygon_coverage_ros/include/polygon_coverage_ros/coverage_planner.h
@@ -215,8 +215,8 @@ class CoveragePlanner : public PolygonPlannerBase {
           break;
         }
         if (!altitude_.has_value()) {
-          ROS_ERROR("No altitude specified. Cannot set sensor model.");
-          break;
+          ROS_WARN("No altitude specified. Creating default altitude 1m.");
+          altitude_ = std::make_optional(1.0);
         }
         sensor_model_ = std::make_shared<Frustum>(
             altitude_.value(), lateral_fov_.value(), lateral_overlap_.value());

Original file line number	Diff line number	Diff line change
`@@ -215,8 +215,8 @@ class CoveragePlanner : public PolygonPlannerBase {`
`215`	`215`	`break;`
`216`	`216`	`}`
`217`	`217`	`if (!altitude_.has_value()) {`
`218`		`- ROS_ERROR("No altitude specified. Cannot set sensor model.");`
`219`		`- break;`
	`218`	`+ ROS_WARN("No altitude specified. Creating default altitude 1m.");`
	`219`	`+ altitude_ = std::make_optional(1.0);`
`220`	`220`	`}`
`221`	`221`	`sensor_model_ = std::make_shared<Frustum>(`
`222`	`222`	`altitude_.value(), lateral_fov_.value(), lateral_overlap_.value());`