Improve error message for missing robot footprint (#5597)

SteveMacenski · web-flow · commit 04a3e2281068 · 2025-10-10T10:09:08.000-07:00
Updated error message for footprint collision checking.

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_mppi_controller/src/critics/cost_critic.cpp b/nav2_mppi_controller/src/critics/cost_critic.cpp
@@ -64,8 +64,8 @@ void CostCritic::initialize()
     "in both the costmap and the cost critic.");
     if (costmap_ros_->getUseRadius()) {
       throw nav2_core::ControllerException(
-      "Considering footprint in collision checking but no robot footprint provided in the "
-      "costmap.");
+      "Considering footprint in CostCritic but no robot footprint provided in the "
+      "costmap (robot radius used instead). Disable considering footprint.");
     }
   }
 

Original file line number	Diff line number	Diff line change
`@@ -64,8 +64,8 @@ void CostCritic::initialize()`
`64`	`64`	`"in both the costmap and the cost critic.");`
`65`	`65`	`if (costmap_ros_->getUseRadius()) {`
`66`	`66`	`throw nav2_core::ControllerException(`
`67`		`- "Considering footprint in collision checking but no robot footprint provided in the "`
`68`		`- "costmap.");`
	`67`	`+ "Considering footprint in CostCritic but no robot footprint provided in the "`
	`68`	`+ "costmap (robot radius used instead). Disable considering footprint.");`
`69`	`69`	`}`
`70`	`70`	`}`
`71`	`71`