Itermediate layer data_init crash fix

[Zelberor]

Description

Fixes a crash of the mapping_data_init node inside the publish_new_map function.
It happened when self.lidar_cluster_entities_data or self.self.radar_cluster_entities_data is None.

Fixes #626

Type of change

• Bug fix (non-breaking change which fixes an issue)

Does this PR introduce a breaking change?

Nope

Most important changes

• mapping_data_init.py

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

Summary by CodeRabbit

• Bug Fixes
  • Improved handling of potential None values when processing LiDAR and radar cluster entity data
  • Enhanced robustness of data integration logic to prevent potential runtime errors

[coderabbitai]

Walkthrough

The pull request addresses a bug in the MappingDataIntegrationNode class within the mapping_data_integration.py file. The changes focus on improving the handling of lidar_cluster_entities_data and radar_cluster_entities_data attributes in the publish_new_map method. The modification introduces a more robust approach to handling None values, preventing potential crashes when these attributes are not yet initialized.

Changes

File	Change Summary
code/mapping/src/mapping_data_integration.py	Modified publish_new_map method to explicitly handle None values for lidar_cluster_entities_data and radar_cluster_entities_data

Assessment against linked issues

Objective	Addressed	Explanation
Prevent crash when cluster entities data is None [#626]	✅

Possibly related PRs

• 572 lidar clusters to intermediate #588: Modifications to MappingDataIntegrationNode class
• Radar clusters to intermediate #595: Updates to publish_new_map method for radar data processing

Suggested reviewers

• Ralf524

Poem

🐰 In the realm of mapping's dance,
Where data flows with rabbit's glance,
No more shall None bring fear or fright,
Our code now handles data's might!
A graceful fix, both swift and light 🌟

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[coderabbitai]

Actionable comments posted: 0

🧹 Nitpick comments (1)

code/mapping/src/mapping_data_integration.py (1)

269-276: Consider adding debug logs for missing data.

While the None handling is correct, adding debug logs when cluster data is missing would help with monitoring and debugging:

         lidar_cluster_entities = (
             []
-            if self.lidar_cluster_entities_data is None
+            if self.lidar_cluster_entities_data is None and not rospy.logdebug_throttle(1, "Lidar cluster entities data is None")
             else Map.from_ros_msg(self.lidar_cluster_entities_data).entities
         )
         radar_cluster_entities = (
             []
-            if self.radar_cluster_entities_data is None
+            if self.radar_cluster_entities_data is None and not rospy.logdebug_throttle(1, "Radar cluster entities data is None")
             else Map.from_ros_msg(self.radar_cluster_entities_data).entities
         )

The logdebug_throttle will limit logging to once per second to avoid spam while still providing visibility into missing data.

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📥 Commits

Reviewing files that changed from the base of the PR and between f633c20 and ab7d55b.

📒 Files selected for processing (1)

• code/mapping/src/mapping_data_integration.py (1 hunks)

⏰ Context from checks skipped due to timeout of 90000ms (1)

• GitHub Check: Build and push image

🔇 Additional comments (2)

code/mapping/src/mapping_data_integration.py (2)

269-271: LGTM! Clean fix for handling None lidar cluster entities.

The implementation effectively prevents crashes by returning an empty list when lidar_cluster_entities_data is None, while maintaining the existing behavior for valid data.

---

274-276: LGTM! Clean fix for handling None radar cluster entities.

The implementation effectively prevents crashes by returning an empty list when radar_cluster_entities_data is None, while maintaining the existing behavior for valid data.