Merge branch 'master' into gpio_controllers

steering_controllers_library/src/steering_odometry.cpp

@@ -208,12 +208,9 @@ void SteeringOdometry::set_odometry_type(const unsigned int type) { config_type_
 
 double SteeringOdometry::convert_twist_to_steering_angle(double v_bx, double omega_bz)
 {
- if (fabs(v_bx) < std::numeric_limits<float>::epsilon())
- {
- // avoid division by zero
- return 0.;
- }
- return std::atan(omega_bz * wheelbase_ / v_bx);
+ // phi can be nan if both v_bx and omega_bz are zero
+ const auto phi = std::atan(omega_bz * wheelbase_ / v_bx);
+ return std::isfinite(phi) ? phi : 0.0;
 }
 
 std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_commands(