fix(nav2): reject non-finite NavigateToPose coordinates

src/rai_core/rai/tools/numbers.py

@@ -0,0 +1,26 @@
+# Copyright (C) 2026 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Numeric validation helpers for agent tool inputs."""
+
+import math
+
+
+def require_finite_float(value: object, *, name: str = "value") -> float:
+    if value is True or value is False or not isinstance(value, (int, float)):
+        raise ValueError(f"{name} must be a finite number")
+    number = float(value)
+    if not math.isfinite(number):
+        raise ValueError(f"{name} must be a finite number")
+    return number

src/rai_core/rai/tools/ros2/navigation/nav2.py

@@ -29,6 +29,7 @@
 from rai.communication.ros2.connectors import ROS2Connector
 from rai.messages import MultimodalArtifact
 from rai.tools.ros2.base import BaseROS2Tool, BaseROS2Toolkit
+from rai.tools.numbers import require_finite_float
 
 current_action_id: Optional[str] = None
 current_feedback: Optional[NavigateToPose.Feedback] = None
@@ -86,6 +87,10 @@ def on_done(self, result: NavigateToPose.Result) -> None:
         current_result = result
 
     def _run(self, x: float, y: float, z: float, yaw: float) -> str:
+        x = require_finite_float(x, name="x")
+        y = require_finite_float(y, name="y")
+        z = require_finite_float(z, name="z")
+        yaw = require_finite_float(yaw, name="yaw")
         pose = PoseStamped()
         pose.header.frame_id = self.frame_id
         pose.header.stamp = self.connector.node.get_clock().now().to_msg()

tests/tools/test_require_finite_float.py

@@ -0,0 +1,30 @@
+# Copyright (C) 2026 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import math
+
+import pytest
+
+from rai.tools.numbers import require_finite_float
+
+
+@pytest.mark.parametrize("value", [True, False, "1", None, math.nan, math.inf, -math.inf])
+def test_require_finite_float_rejects(value):
+    with pytest.raises(ValueError, match="finite"):
+        require_finite_float(value, name="x")
+
+
+def test_require_finite_float_accepts():
+    assert require_finite_float(1.5, name="x") == 1.5
+    assert require_finite_float(0, name="x") == 0.0