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fix: handle uninitialized node correctly #176

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merged 2 commits into from
Dec 5, 2024
Merged

fix: handle uninitialized node correctly #176

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af7a49b
fix: add helper function to check if node is initialized
bpapaspyros Dec 5, 2024
b2261eb
fix: for broadcasters too
bpapaspyros Dec 5, 2024
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8 changes: 7 additions & 1 deletion source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,6 +405,12 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
*/
std::timed_mutex& get_command_mutex();

/**
* @brief Check if the node has been initialized or not.
* @return True if the node is initialized, false otherwise
*/
bool is_node_initialized() const;

private:
/**
* @brief Parameter validation function
Expand Down Expand Up @@ -972,7 +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 " : "";
Expand Down
17 changes: 13 additions & 4 deletions source/modulo_controllers/src/BaseControllerInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

#include <modulo_core/exceptions.hpp>
#include <modulo_core/translators/message_readers.hpp>
#include <stdexcept>

template<class... Ts>
struct overloaded : Ts... {
Expand Down Expand Up @@ -543,10 +544,9 @@ void BaseControllerInterface::add_service(
}

void BaseControllerInterface::add_tf_listener() {
if (this->get_node() == nullptr) {
if (!is_node_initialized()) {
throw modulo_core::exceptions::CoreException("Failed to add TF buffer and listener: Node is not initialized yet.");
}

if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF buffer and listener.");
console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
Expand Down Expand Up @@ -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) {
Expand All @@ -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) {
Expand Down Expand Up @@ -654,4 +654,13 @@ std::timed_mutex& BaseControllerInterface::get_command_mutex() {
return command_mutex_;
}

bool BaseControllerInterface::is_node_initialized() const {
try {
get_node();
return true;
} catch (const std::runtime_error&) {
return false;
}
}

}// namespace modulo_controllers
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