Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
ros2 · Oct 18, 2021 · fd9d12f · fd9d12f
1 parent 90afae3
commit fd9d12f
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Showing 3 changed files with 31 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(xmlrpcpp REQUIRED)
 
 # find ROS 1 packages
 set(cmake_extras_files cmake/find_ros1_package.cmake cmake/find_ros1_interface_packages.cmake)

diff --git a/package.xml b/package.xml
@@ -25,6 +25,7 @@
   <build_depend>rcutils</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>xmlrpcpp</build_depend>
 
   <buildtool_export_depend>pkg-config</buildtool_export_depend>
 

diff --git a/src/parameter_bridge.cpp b/src/parameter_bridge.cpp
@@ -27,6 +27,7 @@
 
 // include ROS 2
 #include "rclcpp/rclcpp.hpp"
+#include <xmlrpcpp/XmlRpcException.h>
 
 #include "ros1_bridge/bridge.hpp"
 
@@ -131,6 +132,13 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
             "failed to create parametrize deadline: '%s'\n",
             e.what());
       }
+      catch (XmlRpc::XmlRpcException &e)
+      {
+        fprintf(
+            stderr,
+            "failed to create parametrize deadline: '%s'\n",
+            e.getMessage().c_str());
+      }
     }
 
     if (qos_params.hasMember("lifespan"))
@@ -150,6 +158,13 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
             "failed to create parametrize lifespan: '%s'\n",
             e.what());
       }
+      catch (XmlRpc::XmlRpcException &e)
+      {
+        fprintf(
+            stderr,
+            "failed to create parametrize lifespan: '%s'\n",
+            e.getMessage().c_str());
+      }
     }
 
     if (qos_params.hasMember("liveliness"))
@@ -167,6 +182,13 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
             "failed to create parametrize liveliness: '%s'\n",
             e.what());
       }
+      catch (XmlRpc::XmlRpcException &e)
+      {
+        fprintf(
+            stderr,
+            "failed to create parametrize liveliness: '%s'\n",
+            e.getMessage().c_str());
+      }
     }
 
     if (qos_params.hasMember("liveliness_lease_duration"))
@@ -186,6 +208,13 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
             "failed to create parametrize liveliness_lease_duration: '%s'\n",
             e.what());
       }
+      catch (XmlRpc::XmlRpcException &e)
+      {
+        fprintf(
+            stderr,
+            "failed to create parametrize liveliness_lease_duration: '%s'\n",
+            e.getMessage().c_str());
+      }
     }
   }
   else