[Personalrobots-commit] SF.net SVN: personalrobots:[14191] pkg/trunk

[<hsu...@us...>]

Revision: 14191
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=14191&view=rev
Author:   hsujohnhsu
Date:     2009-04-21 23:10:26 +0000 (Tue, 21 Apr 2009)

Log Message:
-----------
adding return statements.  move ROS_ERROR outside of if_timeout.

Modified Paths:
--------------
    pkg/trunk/highlevel/nav/src/move_base_action.cpp
    pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp
    pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp

Modified: pkg/trunk/highlevel/nav/src/move_base_action.cpp
===================================================================
--- pkg/trunk/highlevel/nav/src/move_base_action.cpp	2009-04-21 22:57:32 UTC (rev 14190)
+++ pkg/trunk/highlevel/nav/src/move_base_action.cpp	2009-04-21 23:10:26 UTC (rev 14191)
@@ -190,13 +190,16 @@
     }
     catch(tf::LookupException& ex) {
       ROS_ERROR("No Transform available Error: %s\n", ex.what());
+      return; // kind of pointless unless there's more code added below this try catch block
     }
     catch(tf::ConnectivityException& ex) {
       ROS_ERROR("Connectivity Error: %s\n", ex.what());
+      return;
     }
     catch(tf::ExtrapolationException& ex) {
+      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
       if (current_time - robot_pose.stamp_ > ros::Duration().fromSec(transform_tolerance_))
-        ROS_ERROR("Extrapolation Error: %s\n", ex.what());
+        return;
     }
   }
 

Modified: pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp
===================================================================
--- pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp	2009-04-21 22:57:32 UTC (rev 14190)
+++ pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp	2009-04-21 23:10:26 UTC (rev 14191)
@@ -101,11 +101,9 @@
       return false;
     }
     catch(tf::ExtrapolationException& ex) {
+      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
       if (current_time - robot_pose.stamp_ > ros::Duration().fromSec(transform_tolerance_))
-      {
-        ROS_ERROR("Extrapolation Error: %s\n", ex.what());
         return false;
-      }
     }
 
     double wx = global_pose.getOrigin().x();

Modified: pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
===================================================================
--- pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp	2009-04-21 22:57:32 UTC (rev 14190)
+++ pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp	2009-04-21 23:10:26 UTC (rev 14191)
@@ -346,13 +346,16 @@
     }
     catch(tf::LookupException& ex) {
       ROS_ERROR("No Transform available Error: %s\n", ex.what());
+      return;
     }
     catch(tf::ConnectivityException& ex) {
       ROS_ERROR("Connectivity Error: %s\n", ex.what());
+      return;
     }
     catch(tf::ExtrapolationException& ex) {
+      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
       if (current_time - robot_pose.stamp_ > ros::Duration().fromSec(transform_tolerance_))
-        ROS_ERROR("Extrapolation Error: %s\n", ex.what());
+        return;
     }
 
     double wx = global_pose.getOrigin().x();
@@ -396,13 +399,16 @@
       }
       catch(tf::LookupException& ex) {
         ROS_ERROR("No Transform available Error: %s\n", ex.what());
+        return;
       }
       catch(tf::ConnectivityException& ex) {
         ROS_ERROR("Connectivity Error: %s\n", ex.what());
+        return;
       }
       catch(tf::ExtrapolationException& ex) {
+        ROS_ERROR("Extrapolation Error: %s\n", ex.what());
         if (current_time - robot_pose.stamp_ > ros::Duration().fromSec(transform_tolerance_))
-          ROS_ERROR("Extrapolation Error: %s\n", ex.what());
+          return;
       }
 
       double wx = global_pose.getOrigin().x();


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