Add controller exceptions from #3227

nav2_core/include/nav2_core/controller_exceptions.hpp

@@ -0,0 +1,67 @@
+// Copyright (c) 2022. Joshua Wallace
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+//  limitations under the License.
+
+#ifndef NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
+#define NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
+
+#include <stdexcept>
+#include <string>
+
+namespace nav2_core
+{
+
+class ControllerException : public std::runtime_error
+{
+public:
+  explicit ControllerException(const std::string & description)
+  : std::runtime_error(description) {}
+};
+
+class ControllerTFError : public ControllerException
+{
+public:
+  explicit ControllerTFError(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class FailedToMakeProgress : public ControllerException
+{
+public:
+  explicit FailedToMakeProgress(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class PatienceExceeded : public ControllerException
+{
+public:
+  explicit PatienceExceeded(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class InvalidPath : public ControllerException
+{
+public:
+  explicit InvalidPath(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class NoValidControl : public ControllerException
+{
+public:
+  explicit NoValidControl(const std::string & description)
+  : ControllerException(description) {}
+};
+
+}  // namespace nav2_core
+
+#endif  // NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_