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Fix crash for missing urdf in resource manager #1301

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merged 4 commits into from
Jan 17, 2024
Merged

Fix crash for missing urdf in resource manager #1301

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c4c060f
check the components size instead of the variable (fixes #1299)
saikishor Jan 16, 2024
a43d04c
remove is_urdf_loaded variable
saikishor Jan 16, 2024
4224d37
Revert "remove is_urdf_loaded variable"
saikishor Jan 17, 2024
89ec65d
add new load_and_initialize_components default argument to the load_u…
saikishor Jan 17, 2024
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2 changes: 0 additions & 2 deletions hardware_interface/include/hardware_interface/resource_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -418,8 +418,6 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager

// Structure to store read and write status so it is not initialized in the real-time loop
HardwareReadWriteStatus read_write_status;

bool is_urdf_loaded__ = false;
};

} // namespace hardware_interface
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8 changes: 6 additions & 2 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -758,7 +758,6 @@ ResourceManager::ResourceManager(
// CM API: Called in "callback/slow"-thread
void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfaces)
{
is_urdf_loaded__ = true;
const std::string system_type = "system";
const std::string sensor_type = "sensor";
const std::string actuator_type = "actuator";
Expand Down Expand Up @@ -795,7 +794,12 @@ void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfac
resource_storage_->systems_.size());
}

bool ResourceManager::is_urdf_already_loaded() const { return is_urdf_loaded__; }
bool ResourceManager::is_urdf_already_loaded() const
{
return (
!resource_storage_->actuators_.empty() || !resource_storage_->sensors_.empty() ||
!resource_storage_->systems_.empty());
}

// CM API: Called in "update"-thread
LoanedStateInterface ResourceManager::claim_state_interface(const std::string & key)
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