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bugfix (#809): check if covariance values are specified or not #810

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merged 1 commit into from
Jun 5, 2023
Merged

bugfix (#809): check if covariance values are specified or not #810

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16 changes: 10 additions & 6 deletions src/ros_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1857,16 +1857,20 @@ void RosFilter<T>::loadParams()
RCLCPP_FATAL_STREAM(get_logger(), error);
throw std::invalid_argument(error);
}
return true;
}
return false;
};

load_covariance("process_noise_covariance", process_noise_covariance_);
RF_DEBUG("Process noise covariance is:\n" << process_noise_covariance_ << "\n");
filter_.setProcessNoiseCovariance(process_noise_covariance_);
if (load_covariance("process_noise_covariance", process_noise_covariance_)) {
RF_DEBUG("Process noise covariance is:\n" << process_noise_covariance_ << "\n");
filter_.setProcessNoiseCovariance(process_noise_covariance_);
}

load_covariance("initial_estimate_covariance", initial_estimate_error_covariance_);
RF_DEBUG("Initial estimate covariance is:\n" << initial_estimate_error_covariance_ << "\n");
filter_.setEstimateErrorCovariance(initial_estimate_error_covariance_);
if (load_covariance("initial_estimate_covariance", initial_estimate_error_covariance_)) {
RF_DEBUG("Initial estimate covariance is:\n" << initial_estimate_error_covariance_ << "\n");
filter_.setEstimateErrorCovariance(initial_estimate_error_covariance_);
}
}

template<typename T>
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