Problem with \SetAlgoLined in algorithm2e

Question

I am very new to Latex. I have problem with \SetAlgoLined in algorithm2e. As seen from the picture, inside the while loop the line seem to be normal. I don't know why outside the while loop, the line seem strange.

\documentclass{article}
\usepackage[ruled,vlined,algo2e]{algorithm2e}
\begin{document}
\begin{algorithm2e}
  \SetAlgoLined
  \SetKwInOut{Input}{Subscribe}\SetKwInOut{Output}{Publish}
  \SetKw{Set}{set}
 \SetKw{Read}{read}
 \SetAlFnt{\large}
 \SetAlCapFnt{\large}
 \SetAlCapNameFnt{\large}
 \caption{Single Robot Auto Navigation}
\Input{initialize_state, custom_waypose ($q_i,\alpha_i$), robot_status, camera_interrupt, object_depth}
  \Output{robot_pose ($p_i,\alpha_i$), sphere_marker_position ($q$) }
\If{finished initialize_state}{
     \Read {custom_waypose};
  \For{waypoint ($q_i$) in custom_waypose:}{
    \For{wayorientation ($\theta_i$) in custom_waypose:}{
        \Set{WAIT to robot_status};
         $p_i = q_i$; 
         $\theta_i = \alpha_i$;
        return waypose;
    \While{waiting robot_status}{
      \If {robot reached goal}{
            break;}
\If {camera_interrupt}{
$q_i_x = p_i_x+ object\_depth * sin(\theta_i)$\;
$q_i_y = p_i_y+ object\_depth * cos(\theta_i)$ \;
return sphere marker (q)\;
end program\;
}
}
}
}
}

\end{algorithm2e}
\end{document}

Answer 1

Your code gives multiple errors. Solving them, solves your problem.

1. Missing $ inserted.

• camera_interrupt -> camera\_interrupt

2. 4 times Double subscript

• q_i_x -> q_{i_x} (if that is what you mean), etc.
• see also Double Subscript for Subsequences

\documentclass{article}
\usepackage[ruled,vlined,algo2e]{algorithm2e}
\begin{document}
\begin{algorithm2e}
    \SetAlgoLined
    \SetKwInOut{Input}{Subscribe}\SetKwInOut{Output}{Publish}
    \SetKw{Set}{set}
    \SetKw{Read}{read}
    \SetAlFnt{\large}
    \SetAlCapFnt{\large}
    \SetAlCapNameFnt{\large}
    \caption{Single Robot Auto Navigation}
\Input{initialize_state, custom_waypose ($q_i,\alpha_i$), robot_status, camera_interrupt, object_depth}
  \Output{robot_pose ($p_i,\alpha_i$), sphere_marker_position ($q$) }
\If{finished initialize_state}{
     \Read {custom_waypose};
  \For{waypoint ($q_i$) in custom_waypose:}{
    \For{wayorientation ($\theta_i$) in custom_waypose:}{
        \Set{WAIT to robot_status};
         $p_i = q_i$; 
         $\theta_i = \alpha_i$;
        return waypose;
    \While{waiting robot_status}{
      \If {robot reached goal}{
            break;}
\If {camera\_interrupt}{
$q_{i_x} = p_{i_x}+ object\_depth * sin(\theta_i)$\;
$q_{i_y} = p_{i_y}+ object\_depth * cos(\theta_i)$ \;
return sphere marker (q)\;
end program\;
}
}
}
}
}

\end{algorithm2e}
\end{document}