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fix error handling in node constructor #59

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merged 1 commit into from
Jul 20, 2015
Merged

fix error handling in node constructor #59

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25 changes: 10 additions & 15 deletions rclcpp/include/rclcpp/node_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,27 +46,22 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
: name_(node_name), context_(context),
number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
{
// Initialize node handle shared_ptr with custom deleter.
node_handle_.reset(rmw_create_node(name_.c_str()), [ = ](rmw_node_t * node) {
if (node_handle_) {
auto ret = rmw_destroy_node(node);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
std::stringstream ss;
ss << "Error in destruction of rmw node handle: "
<< rmw_get_error_string_safe() << '\n';
// *INDENT-ON*
(std::cerr << ss.str()).flush();
}
}
});
if (!node_handle_) {
auto node = rmw_create_node(name_.c_str());
if (!node) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not create node: ") +
rmw_get_error_string_safe());
// *INDENT-ON*
}
// Initialize node handle shared_ptr with custom deleter.
node_handle_.reset(node, [](rmw_node_t * node) {
auto ret = rmw_destroy_node(node);
if (ret != RMW_RET_OK) {
fprintf(
stderr, "Error in destruction of rmw node handle: %s\n", rmw_get_error_string_safe());
}
});

using rclcpp::callback_group::CallbackGroupType;
default_callback_group_ =
Expand Down