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mobile planners and PoseGraph: small defects found while adding tests (#743)

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#746 0 commenti 0 reazioni 0 assegnatari Vedi su GitHub

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Valutazione

Difficoltà
3/5
Tempo stimato
1-2 giorni
Idoneità per principianti
45/100
Tipo di issue
Bug
Chiarezza
Abbastanza chiara
Stato di attività
Attiva
Stack tecnologico
python, robotics
Ambito
robotics

Direzione di ricerca

Six separate defects are listed: a stray print in RRTPlanner.query(), the shared PGVertex.nvertices counter used by PoseGraph, a bare KeyError on unknown vertex ids during PoseGraph file loading, start validation in PRMPlanner.query(), optional-import fallbacks versus the hard pgraph-python dependency in pyproject.toml, and the _dist_thresh attribute in PRMPlanner.init. Start with the planner and PoseGraph modules, then check the tests in tests/test_graph_planners.py. Done means each item is fixed or explicitly rejected, with a test covering the changed behaviour.

Scritto dal modello di indicizzazione a partire dal testo della issue.

Descrizione

tech-debt

Found while writing tests/test_graph_planners.py (#743). The two crashes are fixed in #744 and #745; these remain.

  • RRTPlanner.query() has a stray debug print(vpath) that writes the whole vertex list to stdout on every call
  • PoseGraph keeps its vertex counter as the class attribute PGVertex.nvertices, reset at the start of each load, so loading or building two graphs interleaved corrupts index/vindex; it should be per graph
  • PoseGraph file loading: an edge that refers to a vertex id that is not in the file raises a bare KeyError: '9'; it should be a RuntimeError/ValueError naming the file, line and id (as the unexpected-record case already does)
  • PRMPlanner.query() accepts a start outside the map (e.g. (-5, 2)) and returns a path from it; the goal is validated but the start is not
  • PRMPlanner, RRTPlanner, LatticePlanner and PoseGraph wrap the pgraph import in an "optional dependency" fallback, but pgraph-python is a hard dependency in pyproject.toml; one of those is wrong
  • PRMPlanner(occgrid, dist_thresh=...) raises AttributeError: 'PRMPlanner' object has no attribute '_dist_thresh': __init__ only assigns self._dist_thresh when dist_thresh is None, then reads it unconditionally. The documented argument cannot be used

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Lingua principale
C++
Stelle
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Fork
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Merge medio
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PR unite (30g)
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