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Fix: Add covariance magnitude (Issue #5611) #5683

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Fix: Add covariance magnitude (Issue #5611) #5683

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3a108bb
Fix: Add covariance magnitude (Issue 5611)
r0s4ngeles Nov 13, 2025
48d0077
Fix: Add covariance range
r0s4ngeles Nov 13, 2025
a47096b
Add fix to issue 5611
r0s4ngeles Nov 13, 2025
761c40e
Add fix to issue 5611
r0s4ngeles Nov 13, 2025
935e23d
remove min_covariance
r0s4ngeles Nov 21, 2025
fa1085a
Change Min Boundary
r0s4ngeles Nov 23, 2025
9ae6a50
Merge branch 'ros-navigation:main' into fix/covariance-validation-5611
r0s4ngeles Nov 23, 2025
b9dcb23
Merge branch 'main' of https://github.com/r0s4ngeles/navigation2 into…
r0s4ngeles Nov 23, 2025
ce8dd8e
Merge branch 'fix/covariance-validation-5611' of https://github.com/r…
r0s4ngeles Nov 23, 2025
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6 changes: 6 additions & 0 deletions nav2_ros_common/include/nav2_ros_common/validate_messages.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@ bool validateMsg(const double & num)
return true;
}

const double MAX_COVARIANCE = 1e6;
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@SteveMacenski SteveMacenski Nov 22, 2025

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You could keep a minimum, these do have to be positive valued. So you can check if the element is < 0.0. That would be the most complete solution to your needs


template<size_t N>
bool validateMsg(const std::array<double, N> & msg)
{
Expand All @@ -65,6 +67,10 @@ bool validateMsg(const std::array<double, N> & msg)
*/
for (const auto & element : msg) {
if (!validateMsg(element)) {return false;}

if (std::abs(element) > MAX_COVARIANCE && element < 0.0) {
return false;
}
}

return true;
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38 changes: 38 additions & 0 deletions nav2_ros_common/test/test_validation_messages.cpp
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Expand Up @@ -320,6 +320,44 @@ TEST(ValidateMessagesTest, PoseWithCovarianceCheck) {
invalidate_msg2.pose.orientation.w = -0.32979028309372299;

EXPECT_FALSE(nav2::validateMsg(invalidate_msg2));

// Test over MAX value PoseWithCovariance message
geometry_msgs::msg::PoseWithCovariance invalidate_msg3;

invalidate_msg3.covariance[0] = 2e9; // > MAX_COVARIANCE (1e9)
for (size_t i = 1; i < invalidate_msg3.covariance.size(); ++i) {
invalidate_msg3.covariance[i] = 0.01; // Valid value
}

invalidate_msg3.pose.position.x = 0.0;
invalidate_msg3.pose.position.y = 0.0;
invalidate_msg3.pose.position.z = 0.0;

invalidate_msg3.pose.orientation.x = 0.0;
invalidate_msg3.pose.orientation.y = 0.0;
invalidate_msg3.pose.orientation.z = 0.0;
invalidate_msg3.pose.orientation.w = 1.0;

EXPECT_FALSE(nav2::validateMsg(invalidate_msg3));

// Test below MIN value PoseWithCovariance message
geometry_msgs::msg::PoseWithCovariance invalidate_msg4;

invalidate_msg4.covariance[0] = 1e-5; // < MIN_COVARIANCE (1e-4)
for (size_t i = 1; i < invalidate_msg4.covariance.size(); ++i) {
invalidate_msg4.covariance[i] = 0.01; // Valid value
}

invalidate_msg4.pose.position.x = 0.0;
invalidate_msg4.pose.position.y = 0.0;
invalidate_msg4.pose.position.z = 0.0;

invalidate_msg4.pose.orientation.x = 0.0;
invalidate_msg4.pose.orientation.y = 0.0;
invalidate_msg4.pose.orientation.z = 0.0;
invalidate_msg4.pose.orientation.w = 1.0;

EXPECT_FALSE(nav2::validateMsg(invalidate_msg4));
}

TEST(ValidateMessagesTest, PoseWithCovarianceStampedCheck) {
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