Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix crashing due to an invalid parameter in the initial value #233

Merged
Merged
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 17 additions & 6 deletions gz_ros2_control/src/gz_system.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -336,14 +336,25 @@ bool GazeboSimSystem::initSim(

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");
throw std::invalid_argument("Failed converting initial_value string");
}
}
return initial_value;
};

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