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Fix crashing due to an invalid parameter in the initial value. #271

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merged 3 commits into from
Feb 12, 2024
Merged

Fix crashing due to an invalid parameter in the initial value. #271

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c48ab44
Fix crashing due to an invalid parameter in the initial value.
Wiktor-99 Jan 24, 2024
48ecb02
Re-throw exception after logging issue
Wiktor-99 Jan 24, 2024
939d3a5
Merge branch 'master' into fix_crashing_with_wrong_initial_value
ahcorde Feb 12, 2024
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22 changes: 16 additions & 6 deletions gazebo_ros2_control/src/gazebo_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,14 +233,24 @@ void GazeboSystem::registerJoints(

RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");

auto get_initial_value = [this](const hardware_interface::InterfaceInfo & interface_info) {
auto get_initial_value =
[this, joint_name](const hardware_interface::InterfaceInfo & interface_info) {
double initial_value{0.0};
if (!interface_info.initial_value.empty()) {
double value = hardware_interface::stod(interface_info.initial_value);
RCLCPP_INFO(this->nh_->get_logger(), "\t\t\t found initial value: %f", value);
return value;
} else {
return 0.0;
try {
initial_value = hardware_interface::stod(interface_info.initial_value);
RCLCPP_INFO(this->nh_->get_logger(), "\t\t\t found initial value: %f", initial_value);
} catch (std::invalid_argument &) {
RCLCPP_ERROR_STREAM(
this->nh_->get_logger(),
"Failed converting initial_value string to real number for the joint "
<< joint_name
<< " and state interface " << interface_info.name
<< ". Actual value of parameter: " << interface_info.initial_value
<< ". Initial value will be set to 0.0");
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}
}
return initial_value;
};

double initial_position = std::numeric_limits<double>::quiet_NaN();
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