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gracefully handle invalid ROS 1 publishers #266

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merged 1 commit into from
May 22, 2020
Merged

gracefully handle invalid ROS 1 publishers #266

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10 changes: 10 additions & 0 deletions include/ros1_bridge/factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -214,6 +214,16 @@ class Factory : public FactoryInterface
}
}

void * ptr = ros1_pub;
if (ptr == 0) {
RCLCPP_WARN_ONCE(
logger,
"Message from ROS 2 %s failed to be passed to ROS 1 %s because the "
"ROS 1 publisher is invalid (showing msg only once per type)",
ros2_type_name.c_str(), ros1_type_name.c_str());
return;
}

ROS1_T ros1_msg;
convert_2_to_1(*ros2_msg, ros1_msg);
RCLCPP_INFO_ONCE(
Expand Down