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avoid crashing on SDK failure #24

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Merged
y-veys merged 1 commit into from
Aug 28, 2025
Merged

avoid crashing on SDK failure #24

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11 changes: 9 additions & 2 deletions spot_tools_ros/src/spot_tools_ros/spot_sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -376,7 +376,6 @@ def _get_login_info():
self.get_logger().info(
f"IP: {robot_ip}, Username: {username}, Password: {password}"
)
# bosdyn.client.util.authenticate(robot, _get_login_info)
robot.authenticate(username, password)
break
except Exception as e:
Expand Down Expand Up @@ -471,6 +470,9 @@ def _camera_callback(self):
self.get_logger().warn("Failed to request image! Reverting to grayscale")
self._use_grayscale = True
return
except Exception:
self.get_logger().error("Image request failed: {e}")
return

for resp in responses:
stamp = _get_local_time(self._robot, resp.shot.acquisition_time)
Expand All @@ -489,7 +491,12 @@ def _camera_callback(self):

def _state_callback(self):
"""Poll Spot for new image messages and publish."""
state = self._state_client.get_robot_state()
try:
state = self._state_client.get_robot_state()
except Exception as e:
self.get_logger().error(f"State request failed: {e}")
return

pos_state = state.kinematic_state
stamp = _get_local_time(self._robot, pos_state.acquisition_timestamp)

Expand Down