From 5d1a053e1c934c9edf5afc65e534cb1d50aa4242 Mon Sep 17 00:00:00 2001
From: Piyush Khandelwal <piyushk@gmail.com>
Date: Mon, 21 Oct 2013 13:32:56 -0500
Subject: [PATCH] eband_local_planner now fails when new frames cannot be added
 to the band. closes #9

---
 src/eband_local_planner_ros.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/eband_local_planner_ros.cpp b/src/eband_local_planner_ros.cpp
index 22a22f6..c69e39d 100644
--- a/src/eband_local_planner_ros.cpp
+++ b/src/eband_local_planner_ros.cpp
@@ -303,8 +303,10 @@ bool EBandPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel)
 			ROS_DEBUG("Sucessfully added frames to band");
 			plan_start_end_counter_ = plan_start_end_counter;
 		}
-		else
-			ROS_DEBUG("Failed to add frames to existing band");
+		else {
+			ROS_WARN("Failed to add frames to existing band");
+      return false;
+    }
 	}
 	else
 		ROS_DEBUG("Nothing to add");
@@ -314,7 +316,7 @@ bool EBandPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel)
 	std::vector<eband_local_planner::Bubble> current_band;
 	if(!eband_->optimizeBand())
 	{
-		ROS_DEBUG("Optimization failed - Band invalid - No controls availlable");
+		ROS_WARN("Optimization failed - Band invalid - No controls availlable");
     band_snapped_hack_ = true;
 		// display current band
 		if(eband_->getBand(current_band))