Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add an error msg if empty message is received #1424

Merged
merged 3 commits into from
Dec 17, 2024
Merged

Add an error msg if empty message is received #1424

Changes from 1 commit
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
e440c27
Add an error msg if empty message is received
christophfroehlich Dec 13, 2024
7c8e8e9
Remove local var
christophfroehlich Dec 13, 2024
4013b49
Merge branch 'master' into jtc/error_output
christophfroehlich Dec 16, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 8 additions & 1 deletion joint_trajectory_controller/src/joint_trajectory_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1459,6 +1459,13 @@ bool JointTrajectoryController::validate_trajectory_msg(
{
const bool all_empty = points[i].positions.empty() && points[i].velocities.empty() &&
points[i].accelerations.empty();
if (all_empty)
{
RCLCPP_ERROR(
get_node()->get_logger(),
"The given trajectory has no position, velocity, or acceleration points.");
return false;
}
const bool position_error =
!points[i].positions.empty() &&
!validate_trajectory_point_field(joint_count, points[i].positions, "positions", i, false);
Expand All @@ -1469,7 +1476,7 @@ bool JointTrajectoryController::validate_trajectory_msg(
!points[i].accelerations.empty() &&
!validate_trajectory_point_field(
joint_count, points[i].accelerations, "accelerations", i, false);
if (all_empty || position_error || velocity_error || acceleration_error)
if (position_error || velocity_error || acceleration_error)
{
return false;
}
Expand Down
Loading