publishTrajectoryLine(): issue error when no end-effector tips are found (#129)

Author: rhaschke

.github/workflows/format.yaml

@@ -7,14 +7,15 @@ on:
   workflow_dispatch:
   pull_request:
   push:
+    branches:
+      - main
 
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v3
       - name: Install clang-format-10
         run: sudo apt-get install clang-format-10
       - name: Install catkin-lint
@@ -28,4 +29,4 @@ jobs:
           rosdep update
           sudo apt-get -q install catkin-lint
           export ROS_DISTRO=noetic
-      - uses: pre-commit/action@v2.0.0
+      - uses: pre-commit/action@v3.0.0

.github/workflows/industrial_ci_action.yaml

@@ -31,19 +31,19 @@ jobs:
     name: "${{ matrix.env.ROS_DISTRO }} + ${{ matrix.env.ROS_REPO }}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -34,7 +34,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 23.3.0
     hooks:
       - id: black
 

src/moveit_visual_tools.cpp

@@ -1370,8 +1370,14 @@ bool MoveItVisualTools::publishTrajectoryLine(const moveit_msgs::RobotTrajectory
                                               const moveit::core::JointModelGroup* arm_jmg,
                                               const rviz_visual_tools::colors& color)
 {
+  if (!arm_jmg)
+  {
+    ROS_FATAL_STREAM_NAMED(LOGNAME, "arm_jmg is NULL");
+    return false;
+  }
+
   std::vector<const moveit::core::LinkModel*> tips;
-  if (!arm_jmg->getEndEffectorTips(tips))
+  if (!arm_jmg->getEndEffectorTips(tips) || tips.empty())
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Unable to get end effector tips from jmg");
     return false;
@@ -1398,8 +1404,14 @@ bool MoveItVisualTools::publishTrajectoryLine(const robot_trajectory::RobotTraje
                                               const moveit::core::JointModelGroup* arm_jmg,
                                               const rviz_visual_tools::colors& color)
 {
+  if (!arm_jmg)
+  {
+    ROS_FATAL_STREAM_NAMED(LOGNAME, "arm_jmg is NULL");
+    return false;
+  }
+
   std::vector<const moveit::core::LinkModel*> tips;
-  if (!arm_jmg->getEndEffectorTips(tips))
+  if (!arm_jmg->getEndEffectorTips(tips) || tips.empty())
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Unable to get end effector tips from jmg");
     return false;