fix: for broadcasters too

aica-technology · Dec 5, 2024 · 20a1bfb · 20a1bfb
1 parent 6fc6256
commit 20a1bfb
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp b/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
@@ -978,7 +978,7 @@ template<typename T>
 inline void BaseControllerInterface::publish_transforms(
     const std::vector<state_representation::CartesianPose>& transforms, const std::shared_ptr<T>& tf_broadcaster,
     bool is_static) {
-  if (this->get_node() == nullptr) {
+  if (!is_node_initialized()) {
     throw modulo_core::exceptions::CoreException("Failed send transform(s): Node is not initialized yet.");
   }
   std::string modifier = is_static ? "static " : "";

diff --git a/source/modulo_controllers/src/BaseControllerInterface.cpp b/source/modulo_controllers/src/BaseControllerInterface.cpp
@@ -596,7 +596,7 @@ geometry_msgs::msg::TransformStamped BaseControllerInterface::lookup_ros_transfo
 }
 
 void BaseControllerInterface::add_tf_broadcaster() {
-  if (this->get_node() == nullptr) {
+  if (!is_node_initialized()) {
     throw modulo_core::exceptions::CoreException("Failed to add TF broadcaster: Node is not initialized yet.");
   }
   if (this->tf_broadcaster_ == nullptr) {
@@ -609,7 +609,7 @@ void BaseControllerInterface::add_tf_broadcaster() {
 }
 
 void BaseControllerInterface::add_static_tf_broadcaster() {
-  if (this->get_node() == nullptr) {
+  if (!is_node_initialized()) {
     throw modulo_core::exceptions::CoreException("Failed to add static TF broadcaster: Node is not initialized yet.");
   }
   if (this->static_tf_broadcaster_ == nullptr) {