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Catch pluginlib exceptions #229

Merged
merged 2 commits into from
Aug 18, 2023
Merged

Catch pluginlib exceptions #229

merged 2 commits into from
Aug 18, 2023

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christophfroehlich
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I recently worked with custom simulation plugins as described in the docs.

It took me a while to debug the ClassLoader, I propose a catch on pluginlib exceptions.

As an example, a non-existing plugin name in the urdf

      <hardware>
        <plugin>gazebo_ros2_control_actuators/GazeboSystemWrong</plugin>
      </hardware>

was just not loaded and gzserver died. Now it is catched with the following error message

[gzserver-1] [ERROR] [1692356394.343300163] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystemWrong with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are ...

ahcorde
ahcorde approved these changes Aug 18, 2023
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LGTM, just a minor nit

gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp Outdated Show resolved Hide resolved
gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp Outdated Show resolved Hide resolved
@christophfroehlich @ahcorde
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ec90253 
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
@ahcorde ahcorde merged commit f8a475d into ros-controls:master Aug 18, 2023
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ahcorde commented Aug 18, 2023

https://github.com/Mergifyio backport humble

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mergify bot commented Aug 18, 2023 •
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backport humble

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Aug 18, 2023
@christophfroehlich @mergify
Catch pluginlib exceptions (#229)
0128033 
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
(cherry picked from commit f8a475d)

# Conflicts:
#	gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@mergify mergify bot mentioned this pull request Aug 18, 2023
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ahcorde pushed a commit that referenced this pull request Aug 18, 2023
@mergify
Catch pluginlib exceptions (backport #229) (#230)
d777235 
* Catch pluginlib exceptions (#229)

Co-authored-by: Alejandro Hernández Cordero <[email protected]>
(cherry picked from commit f8a475d)
@ahcorde ahcorde mentioned this pull request Aug 21, 2023
Merged
@christophfroehlich christophfroehlich deleted the catch_pluginlib_exceptions branch October 2, 2023 14:40
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@ahcorde ahcorde ahcorde approved these changes

@destogl destogl Awaiting requested review from destogl

@bmagyar bmagyar Awaiting requested review from bmagyar

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@christophfroehlich @ahcorde