Return early from edge interpolation for zero-length edges #5453

emersonknapp · 2025-08-13T20:04:42Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	Ubuntu
Robotic platform tested on	Polymath Autonomy System
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

When a zero-length edge in a route graph is in a calculated route, the densify function for the resulting path would go into an infinite loop pushing points to a vector until running out of memory and crashing.

Description of documentation updates required from your changes

None

Description of how this change was tested

Added a unit test that definitely fails before adding the fix.

I've been running it on simulation examples with a route graph that has zero length edges.

Future work that may be required in bullet points

N/A

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

codecov · 2025-08-13T20:30:07Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_route/src/path_converter.cpp	`100.00% <100.00%> (ø)`

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

nav2_route/src/path_converter.cpp

Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp · 2025-08-25T22:53:10Z

@SteveMacenski Added unit test and addressed review comment

…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]>

…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]>

…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]>

* Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]>

* Return early from edge interpolation for zero-length edges (#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]> * nav2_route vizualization marker rendering performance improvement (#5452) * nav2_route vizualization marker use sphere_list and line_list for rendering performance Signed-off-by: Emerson Knapp <[email protected]> * Fix unit test and break out magic constants into named values Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]> * Fix dynamic param SmacPlannerLattice (#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Fix duplicate poses with computePlanThroughPoses (#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix seg fault (#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Route graph vis fixes: Fixes regressions from #5452 (#5507) * Fixes for route graph Signed-off-by: SteveMacenski <[email protected]> * Fix route graph vis Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> * Removing openMP dep on MPPI (#5506) Signed-off-by: SteveMacenski <[email protected]> * Add debug topic to visualize whether MPPI critic has an effect on costs (#5485) * Publish criticsStats Signed-off-by: Tony Najjar <[email protected]> * linting Signed-off-by: Tony Najjar <[email protected]> * change header to stamp Signed-off-by: Tony Najjar <[email protected]> * make unique_pointer Signed-off-by: Tony Najjar <[email protected]> * typo Signed-off-by: Tony Najjar <[email protected]> * Add readme Signed-off-by: Tony Najjar <[email protected]> * add to readme Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export_dependencies (#5514) Signed-off-by: JPLDevMaster <[email protected]> * Fix/dependency and header (#5520) * Add missing dependency declaration Signed-off-by: Sushant Chavan <[email protected]> * Remove unused header Signed-off-by: Sushant Chavan <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]> * bump to 1.4.2 for kilted release Signed-off-by: SteveMacenski <[email protected]> * Adding critic manager for refactor Signed-off-by: SteveMacenski <[email protected]> * Update API refactor Signed-off-by: SteveMacenski <[email protected]> * API updates Signed-off-by: SteveMacenski <[email protected]> * Fix formatting issues in critic_manager.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: JPLDevMaster <[email protected]> Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Emerson Knapp <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: João Penha Lopes <[email protected]> Co-authored-by: Sushant Chavan <[email protected]>

…ation#5453) * Return early from edge interpolation for zero-length edges Signed-off-by: Emerson Knapp <[email protected]> * Move the check and add a test Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp force-pushed the emerson/fix-route-server-infinite-loop branch from 516da20 to e53fba8 Compare August 13, 2025 20:08

SteveMacenski requested changes Aug 13, 2025

View reviewed changes

nav2_route/src/path_converter.cpp Outdated Show resolved Hide resolved

Return early from edge interpolation for zero-length edges

b0e5607

Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp force-pushed the emerson/fix-route-server-infinite-loop branch from e53fba8 to 4278f93 Compare August 25, 2025 22:51

Move the check and add a test

8d75149

Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp force-pushed the emerson/fix-route-server-infinite-loop branch from 4278f93 to 8d75149 Compare August 25, 2025 22:52

emersonknapp requested a review from SteveMacenski August 25, 2025 22:53

SteveMacenski approved these changes Aug 26, 2025

View reviewed changes

SteveMacenski merged commit 7941300 into ros-navigation:main Aug 26, 2025
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Return early from edge interpolation for zero-length edges #5453

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emersonknapp commented Aug 13, 2025 •

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emersonknapp commented Aug 25, 2025 •

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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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emersonknapp commented Aug 13, 2025 •

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emersonknapp commented Aug 25, 2025 •

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