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Merge pull request #59 from ros2/fix_node_constructor

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fix error handling in node constructor
This commit is contained in:
Dirk Thomas 2015-07-20 15:47:53 -07:00
commit 5e001016c8
1 changed files with 10 additions and 15 deletions
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25
rclcpp/include/rclcpp/node_impl.hpp
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@ -46,27 +46,22 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
: name_(node_name), context_(context), : name_(node_name), context_(context),
number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0) number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
{ {
// Initialize node handle shared_ptr with custom deleter. auto node = rmw_create_node(name_.c_str());
node_handle_.reset(rmw_create_node(name_.c_str()), [ = ](rmw_node_t * node) { if (!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_) {
// *INDENT-OFF* // *INDENT-OFF*
throw std::runtime_error( throw std::runtime_error(
std::string("could not create node: ") + std::string("could not create node: ") +
rmw_get_error_string_safe()); rmw_get_error_string_safe());
// *INDENT-ON* // *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; using rclcpp::callback_group::CallbackGroupType;
default_callback_group_ = default_callback_group_ =