Fixed crash due to already declared parameters #37
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Closing this PR but openning this other PR ros-perception/point_cloud_transport#43 which creates the proper fix |
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When rviz2 is used with the current PR to display draco compressed point clouds (ros2/rviz#1008), rviz2 crashes when more than one draco subscriber is initialized, because the
SkipQuantizationparameters are already declared (as mentioned here: ros2/rviz#1008 (comment)).The crash can be reproduced by using the PR mentioned above and adding two PointCloud2 displays in rviz2 subscribing to topics ending on "/draco" (e.g.
/points1/dracoand/points2/draco). The pointclouds don't need to be published.This PR adds a simple try-catch block around the
declare_parametersstatements to avoid the crash.