From 98e2f20ef40fba28dc1039d64d3f7829a939771c Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Tue, 30 Jan 2024 14:07:52 +0900
Subject: [PATCH] Changed error handling when pcd_metadata file not found

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 .../src/pointcloud_map_loader/pointcloud_map_loader_node.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
index 5f4b3e311e6e9..d7bd75a1e9f90 100644
--- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
+++ b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
@@ -90,8 +90,9 @@ std::map<std::string, PCDFileMetadata> PointCloudMapLoaderNode::getPCDMetadata(
 {
   std::map<std::string, PCDFileMetadata> pcd_metadata_dict;
   if (pcd_paths.size() != 1) {
-    if (!fs::exists(pcd_metadata_path)) {
-      throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path);
+    while (!fs::exists(pcd_metadata_path)) {
+      RCLCPP_ERROR_STREAM(get_logger(), "PCD metadata file not found: " << pcd_metadata_path);
+      std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 
     pcd_metadata_dict = loadPCDMetadata(pcd_metadata_path);