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Catch pluginlib exceptions #229

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merged 2 commits into from
Aug 18, 2023
Merged

Catch pluginlib exceptions #229

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a73268a
Catch pluginlib exceptions
christophfroehlich Aug 18, 2023
ec90253
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christophfroehlich Aug 18, 2023
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25 changes: 21 additions & 4 deletions gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,10 +288,24 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element

for (unsigned int i = 0; i < control_hardware_info.size(); i++) {
std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_plugin_name;
auto gazeboSystem = std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface>(
impl_->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));

rclcpp::Node::SharedPtr node_ros2 = std::dynamic_pointer_cast<rclcpp::Node>(impl_->model_nh_);
RCLCPP_DEBUG(
impl_->model_nh_->get_logger(), "Load hardware interface %s ...",
robot_hw_sim_type_str_.c_str());
std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface> gazeboSystem;
try {
gazeboSystem = std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface>(
impl_->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));
} catch (pluginlib::PluginlibException & ex) {
RCLCPP_ERROR(
impl_->model_nh_->get_logger(), "The plugin failed to load for some reason. Error: %s\n",
ex.what());
continue;
}
rclcpp::Node::SharedPtr node_ros2 = std::dynamic_pointer_cast<rclcpp::Node>(
impl_->model_nh_);
RCLCPP_DEBUG(
impl_->model_nh_->get_logger(), "Loaded hardware interface %s!",
robot_hw_sim_type_str_.c_str());
if (!gazeboSystem->initSim(
node_ros2,
impl_->parent_model_,
Expand All @@ -302,6 +316,9 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
impl_->model_nh_->get_logger(), "Could not initialize robot simulation interface");
return;
}
RCLCPP_DEBUG(
impl_->model_nh_->get_logger(), "Initialized robot simulation interface %s!",
robot_hw_sim_type_str_.c_str());

resource_manager_->import_component(std::move(gazeboSystem), control_hardware_info[i]);

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