fix(elevation_map_loader): remove and create map bagfile if it cannot be loaded

[Shin-kyoto]

Signed-off-by: Shin-kyoto [email protected]

PR Type

• Bug Fix

Description

• When bag file of elevation map is broken, elevation_map_loader node cannot load it and dies.
• So if elevation_map_loader node cannot load broken bag file, removing broken bag file and create elevation map.

Review Procedure

Follow the steps below to ensure that the elevation map is generated even if there is broken bag file in /install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps.

1. Create elevation map.
2. Check if there is .db3 file in /install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/<MAP_HASH>/. <MAP_HASH> depends on pointcloud map you used to create elevation_map. For example, /install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee_0.db3 is that bag file.
3. Remove this file and create empty file with the same name as the removed bag file. For example,

rm -rf /install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee_0.db3
touch /install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee/2b0fe3948d486f048177b826fbba046d468956e51b25e9916feef02b0aeffeee_0.db3

4. Check if the broken bag file is removed and the elevation map is generated again.

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[codecov]

Codecov Report

Merging #1772 (e48748a) into main (81ce496) will decrease coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1772      +/-   ##
==========================================
- Coverage   10.40%   10.38%   -0.02%     
==========================================
  Files        1218     1218              
  Lines       87306    87403      +97     
  Branches    20227    20227              
==========================================
  Hits         9081     9081              
- Misses      68771    68868      +97     
  Partials     9454     9454              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.38% <0.00%> (ø)		Carriedforward from fcd7fd6

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ation_map_loader/src/elevation_map_loader_node.cpp	0.00% <0.00%> (ø)

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[kosuke55]

LGTM