fix(autoware_pointcloud_preprocessor): blockage diag node add runtime…

… error when the parameter is wrong (#8564) * fix: add runtime error Signed-off-by: vividf <[email protected]> * Update blockage_diag_node.cpp Co-authored-by: badai nguyen <[email protected]> * fix: add RCLCPP error logging Signed-off-by: vividf <[email protected]> * chore: remove unused variable Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: badai nguyen <[email protected]>
autowarefoundation · Aug 27, 2024 · d08dcfe · d08dcfe
1 parent a64566e
commit d08dcfe
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
@@ -190,6 +190,14 @@ void BlockageDiagComponent::filter(
     sky_blockage_range_deg_[1] = angle_range_deg_[1];
   } else {
     for (const auto p : pcl_input->points) {
+      if (p.channel >= vertical_bins) {
+        RCLCPP_ERROR(
+          this->get_logger(),
+          "p.channel: %d is larger than vertical_bins: %d  .Please check the parameter "
+          "'vertical_bins'.",
+          p.channel, vertical_bins);
+        throw std::runtime_error("Parameter is not valid");
+      }
       double azimuth_deg = p.azimuth * (180.0 / M_PI);
       if (
         ((azimuth_deg > angle_range_deg_[0]) &&