[HrpsysSeqStateROSBridge.cpp] avoid segmentation fault when unkown joint name is given to /fullbody_controller/follow_joint_trajectory_action/goal #1121
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…int name is given to /fullbody_controller/follow_joint_trajectory_action/goal
Takuma-Hiraoka
approved these changes
Apr 15, 2022
k-okada
reviewed
Apr 16, 2022
| @@ -188,7 +188,8 @@ void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory | |||
|
|
|||
| trajectory_msgs::JointTrajectoryPoint point = trajectory.points[i]; | |||
| for (unsigned int j=0; j < trajectory.joint_names.size(); j++ ) { | |||
| body->link(joint_names[j])->q = point.positions[j]; | |||
| hrp::Link* l = body->link(joint_names[j]); | |||
| if(l) l->q = point.positions[j]; | |||
There was a problem hiding this comment.
I think we should print warning message.
There was a problem hiding this comment.
ありがとうございます。7137679 で追加しました
Utaro-M
approved these changes
Jun 9, 2022
|
ありがとうございます。 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
/fullbody_controller/follow_joint_trajectory_action/goalに、存在しない関節名が与えられるとHrpsysSeqStateROSBridgeがSegmentation Faultで落ちてしまいました。この問題を直すPull Requestです。存在しない関節名が与えられても無視するようにして、Segmentation Faultで落ちないようにしました。
@Utaro-M のハンドの実験で必要です。