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Prevent gotonode system crash: against latest aoc #245

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Prevent gotonode system crash: against latest aoc #245

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11 changes: 9 additions & 2 deletions topological_navigation/topological_navigation/edge_action_manager2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -345,6 +345,13 @@ def initialise(self, bt_trees, edge, destination_node, origin_node=None,
self.action_status = 0

if self.action_name == self.ACTIONS.NAVIGATE_TO_POSE:
self.destination_node_str = {}
name = destination_node['node']['name']
x_coord = destination_node['node']['pose']['position']['x']
y_coord = destination_node['node']['pose']['position']['y']
coordinates = (x_coord, y_coord)
self.destination_node_str[coordinates] = name
self.get_logger().warn(f"Destination nodes: {self.destination_node_str}")
self.destination_node = destination_node
self.origin_node = origin_node
self.get_logger().info(f"Processing edge {self.edge['edge_id']}")
Expand Down Expand Up @@ -1321,10 +1328,10 @@ def execute(self):
self.get_logger().warn("Executing action : {} ".format(target_action))

# Publish segment destination for visualisation purposes
current_destination = (target_goal.poses[-1].pose.position.x, target_goal.poses[-1].pose.position.y)
current_destination = (target_goal.pose.pose.position.x, target_goal.pose.pose.position.y)
self.get_logger().warn("Current destination : {} ".format(self.destination_node_str[current_destination]))
self.current_dest.publish(String(data=self.destination_node_str[current_destination]))

# Handles both lists and dictionaries
control_server_config = None
if isinstance(self.control_server_configs, list):
Expand Down
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