add semantic checks (#2557)

Co-authored-by: Kai-Tao Xie <[email protected]>
ros-navigation · Sep 11, 2021 · d47aba6 · d47aba6
1 parent 2e6594c
commit d47aba6
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -1134,6 +1134,13 @@ AmclNode::initParameters()
     max_particles_ = min_particles_;
   }
 
+  if (resample_interval_ <= 0) {
+    RCLCPP_WARN(
+      get_logger(), "You've set resample_interval to be zero or negtive,"
+      " this isn't allowed so it will be set to default value to 1.");
+    resample_interval_ = 1;
+  }
+
   if (always_reset_initial_pose_) {
     initial_pose_is_known_ = false;
   }