Obbart/universal_robots_ros_driver
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Introduce UrException as exception base class

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This commit is contained in:
Felix Mauch
2019-06-11 10:25:50 +02:00
parent 48103aca49
commit c88022eefd
3 changed files with 57 additions and 3 deletions
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13
ur_rtde_driver/src/ros/hardware_interface_node.cpp
View File

@@ -29,6 +29,7 @@
#include <csignal>
#include <ur_rtde_driver/ros/hardware_interface.h>
#include <ur_rtde_driver/exceptions.h>
std::unique_ptr<ur_driver::HardwareInterface> g_hw_interface;
@@ -64,9 +65,17 @@ int main(int argc, char** argv)
g_hw_interface.reset(new ur_driver::HardwareInterface);
if (!g_hw_interface->init(nh, nh_priv))
try
{
ROS_ERROR_STREAM("Could not correctly initialize robot. Exiting");
if (!g_hw_interface->init(nh, nh_priv))
{
ROS_ERROR_STREAM("Could not correctly initialize robot. Exiting");
exit(1);
}
}
catch (ur_driver::UrException& e)
{
ROS_FATAL_STREAM("Could not correctly initialize robot: " << e.what());
exit(1);
}
ROS_INFO_STREAM("initialized hw interface");

3
ur_rtde_driver/src/ur/ur_driver.cpp
View File

@@ -32,6 +32,7 @@
#include "ur_rtde_driver/ur/ur_driver.h"
#include "ur_rtde_driver/primary/package_header.h"
#include "ur_rtde_driver/exceptions.h"
#include <memory>
namespace ur_driver
@@ -51,7 +52,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
if (!rtde_client_->init())
{
throw std::runtime_error("initialization went wrong"); // TODO: be less harsh
throw UrException("Initialization of RTDE client went wrong.");
}
rtde_frequency_ = rtde_client_->getMaxFrequency();