From b8490010708f92eb13daa568e9bbc2714a7b291a Mon Sep 17 00:00:00 2001
From: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com>
Date: Fri, 28 Oct 2022 16:01:08 +0900
Subject: [PATCH] avoid bad image message

---
 .../src/maze_bot/maze_bot/maze_solver.py          | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/path_planning_ws/src/maze_bot/maze_bot/maze_solver.py b/path_planning_ws/src/maze_bot/maze_bot/maze_solver.py
index 4320704..5d3f623 100644
--- a/path_planning_ws/src/maze_bot/maze_bot/maze_solver.py
+++ b/path_planning_ws/src/maze_bot/maze_bot/maze_solver.py
@@ -77,12 +77,19 @@ def __init__(self):
         self.debugging = Debugging()
 
     def get_video_feed_cb(self,data):
-        frame = self.bridge.imgmsg_to_cv2(data,'bgr8')
+        try:
+            frame = self.bridge.imgmsg_to_cv2(data,'bgr8')
+        except CvBridgeError as e:
+            print(e)
+            return
         self.sat_view = frame
     
     def process_data_bot(self, data):
-      self.bot_view = self.bridge.imgmsg_to_cv2(data,'bgr8') # performing conversion
-
+        try:
+            self.bot_view = self.bridge.imgmsg_to_cv2(data,'bgr8') # performing conversion
+        except CvBridgeError as e:
+            print(e)
+            return
     def get_bot_speed(self,data):
         # We get the bot_turn_angle in simulation Using same method as Gotogoal.py
         self.bot_speed = -(data.twist.twist.linear.x)
@@ -274,4 +281,4 @@ def main(args =None):
 
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()