The lookahead transformation gets Nan values while tracking the path

[mhaboali]

Thanks for sharing such a useful pkg!

At specific lookahead distance ranges, I get the following error once the robot gets closer to finish the path

Ignoring transform for child_frame_id "lookahead" from authority "unknown_publisher" because of a nan value in the transform (nan nan 0.113934) (0.000000 0.000000 0.804591 0.593829)

I made a workaround but the robot doesn't follow exactly the last waypoints in the path as well as it did before without this workaround. Here's it at line 227:

if(std::isnan(lookahead_.transform.translation.x)){    
        lookahead_.transform.translation.x = 0.01;
        lookahead_.transform.translation.y = 0.01;
        yt = 0.01;
      } 

Do you have any idea about this and could you explain what would be the effect of that workaround?

Thanks and looking forward to your response!

[dmiklic]

Hi Mohamed, thank you for your interest in this package. Unfortunately, at this time I'm pressed with other projects and do not have the resources to continue maintaining this package, so I can not offer any quick help. A colleague of mine continued the development of the package (his changes have not been open-sourced so far), I'll ping him if he has any ideas.

[mhaboali]

Thanks, @dmiklic for your reply, and appreciate a lot your efforts!