From 8e215d865fe6754f7071bde283de8c6613d6643c Mon Sep 17 00:00:00 2001
From: Tyler Weaver <maybe@tylerjw.dev>
Date: Wed, 25 Oct 2023 14:13:56 -0600
Subject: [PATCH] Test for exception thrown durring making a node

---
 moveit_core/utils/src/logger.cpp | 29 ++++++++++++++++++++++++++---
 1 file changed, 26 insertions(+), 3 deletions(-)

diff --git a/moveit_core/utils/src/logger.cpp b/moveit_core/utils/src/logger.cpp
index 2d21d431c3..98a736b128 100644
--- a/moveit_core/utils/src/logger.cpp
+++ b/moveit_core/utils/src/logger.cpp
@@ -45,8 +45,21 @@ namespace moveit
 
 rclcpp::Logger& get_global_logger_ref()
 {
-  static std::shared_ptr<rclcpp::Node> moveit_node = std::make_shared<rclcpp::Node>("moveit");
-  static rclcpp::Logger logger = moveit_node->get_logger();
+  static std::shared_ptr<rclcpp::Node> moveit_node;
+  static rclcpp::Logger logger = [&] {
+    try
+    {
+      moveit_node = std::make_shared<rclcpp::Node>("moveit");
+    }
+    catch (...)
+    {
+      // rclcpp::init was not called so rcl context is null, return non-node logger
+      auto logger = rclcpp::get_logger("moveit");
+      RCLCPP_WARN(logger, "rclcpp::init was not called, messages from this logger may be missing from /rosout");
+      return logger;
+    }
+    return moveit_node->get_logger();
+  }();
   return logger;
 }
 
@@ -68,7 +81,17 @@ rclcpp::Logger make_child_logger(const std::string& name)
   if (child_nodes.find(name) == child_nodes.end())
   {
     std::string ns = get_logger().get_name();
-    child_nodes[name] = std::make_shared<rclcpp::Node>(name, ns);
+    try
+    {
+      child_nodes[name] = std::make_shared<rclcpp::Node>(name, ns);
+    }
+    catch (...)
+    {
+      // rclcpp::init was not called so rcl context is null, return non-node logger
+      auto logger = rclcpp::get_logger(ns.append(".").append(name));
+      RCLCPP_WARN(logger, "rclcpp::init was not called, messages from this logger may be missing from /rosout");
+      return logger;
+    }
   }
 #endif