throw if transform failed

adivardi · adivardi · commit 3776bddca5ef · 2025-03-17T10:21:07.000Z
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -669,8 +669,7 @@ void ControllerServer::computeAndPublishVelocity()
           costmap_ros_->getTfBuffer(), current_path_.header.frame_id, pose,
           robot_pose_in_path_frame, tolerance))
   {
-    RCLCPP_ERROR(get_logger(), "Robot pose is not available.");
-    return;
+    throw nav2_core::ControllerTFError("Failed to transform robot pose to path frame");
   }
 
   std::shared_ptr<Action::Feedback> feedback = std::make_shared<Action::Feedback>();

Original file line number	Diff line number	Diff line change
`@@ -669,8 +669,7 @@ void ControllerServer::computeAndPublishVelocity()`
`669`	`669`	`costmap_ros_->getTfBuffer(), current_path_.header.frame_id, pose,`
`670`	`670`	`robot_pose_in_path_frame, tolerance))`
`671`	`671`	`{`
`672`		`- RCLCPP_ERROR(get_logger(), "Robot pose is not available.");`
`673`		`- return;`
	`672`	`+ throw nav2_core::ControllerTFError("Failed to transform robot pose to path frame");`
`674`	`673`	`}`
`675`	`674`
`676`	`675`	`std::shared_ptr<Action::Feedback> feedback = std::make_shared<Action::Feedback>();`