Controller Manager recovery from invalid URDF errors #22
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…ontrols#2205) --------- Signed-off-by: mini-1235 <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Bence Magyar <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]>
…ure (ros-controls#2230) --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
Co-authored-by: christophfroehlich <[email protected]>
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…tion, robot description callback and resource manager constructor
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This pull request is in conflict. Could you fix it @VitezGabriela? |
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Goal:
Update the Controller Manager to handle errors when the ResourceManager fails to initialize due to an invalid URDF or faulty hardware plugin.
Behavior:
Observations:
The Controller Manager now no longer crashes on invalid URDFs. Instead, it safely recovers by initializing the resource_manager_ pointer to a minimal state, allowing the controller manager to continue operating and respond to future valid robot descriptions.
Testing:
Unit tests were created with multiple invalid URDF scenarios. All tests passed successfully. Testing can be done by executing:
./build/controller_manager/test_controller_manager_with_resource_manager