Update regulated_pure_pursuit_controller.cpp (#2484)

SteveMacenski · SteveMacenski · commit e48b01a4c3a6 · 2021-07-29T14:27:21.000-07:00
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -43,7 +43,7 @@ void RegulatedPurePursuitController::configure(
 {
   auto node = parent.lock();
   if (!node) {
-    throw std::runtime_error("Unable to lock node!");
+    throw nav2_core::PlannerException("Unable to lock node!");
   }
 
   costmap_ros_ = costmap_ros;
@@ -314,7 +314,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
 
   // Collision checking on this velocity heading
   if (isCollisionImminent(pose, linear_vel, angular_vel)) {
-    throw std::runtime_error("RegulatedPurePursuitController detected collision ahead!");
+    throw nav2_core::PlannerException("RegulatedPurePursuitController detected collision ahead!");
   }
 
   // populate and return message

Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ void RegulatedPurePursuitController::configure(`
`43`	`43`	`{`
`44`	`44`	`auto node = parent.lock();`
`45`	`45`	`if (!node) {`
`46`		`- throw std::runtime_error("Unable to lock node!");`
	`46`	`+ throw nav2_core::PlannerException("Unable to lock node!");`
`47`	`47`	`}`
`48`	`48`
`49`	`49`	`costmap_ros_ = costmap_ros;`
`@@ -314,7 +314,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity`
`314`	`314`
`315`	`315`	`// Collision checking on this velocity heading`
`316`	`316`	`if (isCollisionImminent(pose, linear_vel, angular_vel)) {`
`317`		`- throw std::runtime_error("RegulatedPurePursuitController detected collision ahead!");`
	`317`	`+ throw nav2_core::PlannerException("RegulatedPurePursuitController detected collision ahead!");`
`318`	`318`	`}`
`319`	`319`
`320`	`320`	`// populate and return message`