Fix/controller exception (#23)

* fix for acceleration limits (#17)

* on par with the controller server

src/NeoMpcPlanner.cpp

@@ -31,7 +31,7 @@ SOFTWARE.
 #include <vector>
 #include "nav2_util/line_iterator.hpp"
 #include "nav2_core/goal_checker.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
@@ -67,13 +67,13 @@ nav_msgs::msg::Path NeoMpcPlanner::transformGlobalPlan(
   const geometry_msgs::msg::PoseStamped & pose)
 {
   if (global_plan_.poses.empty()) {
-    throw nav2_core::PlannerException("Received plan with zero length");
+    throw nav2_core::ControllerException("Received plan with zero length");
   }
 
   // let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
   if (!transformPose(global_plan_.header.frame_id, pose, robot_pose)) {
-    throw nav2_core::PlannerException("Unable to transform robot pose into global plan's frame");
+    throw nav2_core::ControllerException("Unable to transform robot pose into global plan's frame");
   }
 
   // We'll discard points on the plan that are outside the local costmap
@@ -128,7 +128,7 @@ nav_msgs::msg::Path NeoMpcPlanner::transformGlobalPlan(
   global_path_pub_->publish(transformed_plan);
 
   if (transformed_plan.poses.empty()) {
-    throw nav2_core::PlannerException("Resulting plan has 0 poses in it.");
+    throw nav2_core::ControllerException("Resulting plan has 0 poses in it.");
   }
 
   return transformed_plan;
@@ -231,7 +231,7 @@ geometry_msgs::msg::TwistStamped NeoMpcPlanner::computeVelocityCommands(
   }
 
   if (footprint_cost == 255) {
-    throw nav2_core::PlannerException("MPC detected collision!");
+    throw nav2_core::ControllerException("MPC detected collision!");
   }
 
   carrot_pub_->publish(createCarrotMsg(carrot_pose));
@@ -288,7 +288,7 @@ void NeoMpcPlanner::configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr & p
   auto node = parent.lock();
   node_ = parent;
   if (!node) {
-    throw nav2_core::PlannerException("Unable to lock node!");
+    throw nav2_core::ControllerException("Unable to lock node!");
   }
 
   costmap_ros_ = costmap_ros;