Don't crash if a wrong config was detected #324
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@Mergifyio backport iron humble |
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ahcorde
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(cherry picked from commit ec1b958) Co-authored-by: Christoph Fröhlich <[email protected]>
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(cherry picked from commit ec1b958) Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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(cherry picked from commit ec1b958) Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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As reported with #323, the plugin crashes if there is a wrong config. On humble, the controller_manager tries to access unavailable state interfaces (I'll investigate more).
But also on rolling it crashes, despite the URDF parsers throws an error if a joint does not exists. The
configure()method returns butPreUpdate,PostUpdateandDeconstructorare accessing thethis->dataPtr->controller_manager_gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp
Lines 394 to 397 in 4503507
Is there maybe another way to deactivate the plugin properly and not even call the Update methods?