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Avoid uncatchable exception in bagthread #2139

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Avoid uncatchable exception in bagthread #2139

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465a5f9
Avoid uncatchable exception in bagthread
peci1 Mar 1, 2021
a7bbc2e
rosbag: recorder: Catch all exceptions in record thread.
peci1 Apr 5, 2021
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48 changes: 44 additions & 4 deletions tools/rosbag/src/recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,15 +181,55 @@ int Recorder::run() {
boost::thread record_thread;
if (options_.snapshot)
{
record_thread = boost::thread(boost::bind(&Recorder::doRecordSnapshotter, this));
record_thread = boost::thread([this]() {
try
{
this->doRecordSnapshotter();
}
catch (const rosbag::BagException& ex)
{
ROS_ERROR_STREAM(ex.what());
exit_code_ = 1;
}
catch (const std::exception& ex)
{
ROS_ERROR_STREAM(ex.what());
exit_code_ = 2;
}
catch (...)
{
ROS_ERROR_STREAM("Unknown exception thrown while recording bag, exiting.");
exit_code_ = 3;
}
});

// Subscribe to the snapshot trigger
trigger_sub = nh.subscribe<std_msgs::Empty>("snapshot_trigger", 100, boost::bind(&Recorder::snapshotTrigger, this, _1));
}
else
record_thread = boost::thread(boost::bind(&Recorder::doRecord, this));


{
record_thread = boost::thread([this]() {
try
{
this->doRecord();
}
catch (const rosbag::BagException& ex)
{
ROS_ERROR_STREAM(ex.what());
exit_code_ = 1;
}
catch (const std::exception& ex)
{
ROS_ERROR_STREAM(ex.what());
exit_code_ = 2;
}
catch (...)
{
ROS_ERROR_STREAM("Unknown exception thrown while recording bag, exiting.");
exit_code_ = 3;
}
});
}

ros::Timer check_master_timer;
if (options_.record_all || options_.regex || (options_.node != std::string("")))
Expand Down