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crash on no class found #2415

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Merged
clalancette merged 6 commits into from
Feb 13, 2024
Merged

crash on no class found #2415

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ded79a9
crash on no class found
Aposhian Jan 25, 2024
d00304f
error on no class found instead of no callback groups
Aposhian Feb 7, 2024
e9002e9
Remove no class test
Aposhian Feb 8, 2024
2d7e730
return early
Aposhian Feb 8, 2024
8432a8a
remove node_wrappers vector
Aposhian Feb 8, 2024
6ab619e
don't use auto
Aposhian Feb 13, 2024
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56 changes: 31 additions & 25 deletions rclcpp_components/src/node_main.cpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <algorithm>
#include <memory>
#include <string>
#include <vector>
Expand All @@ -33,41 +34,46 @@ int main(int argc, char * argv[])
@executor@ exec;
rclcpp::NodeOptions options;
options.arguments(args);
std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;

std::string library_name = "@library_name@";
std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";

RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
auto loader = std::make_unique<class_loader::ClassLoader>(library_name);
auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
for (const auto & clazz : classes) {
std::string name = clazz.c_str();
if (name.compare(class_name) == 0) {
RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
try {
node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
} catch (const std::exception & ex) {
RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
return 1;
} catch (...) {
RCLCPP_ERROR(logger, "Failed to load library");
return 1;
}
auto wrapper = node_factory->create_node_instance(options);
auto node = wrapper.get_node_base_interface();
node_wrappers.push_back(wrapper);
exec.add_node(node);
}
std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();

if (std::find(
classes.begin(),
classes.end(),
class_name) == classes.end()) {
RCLCPP_ERROR(
logger,
"Class %s not found in library %s",
class_name.c_str(),
library_name.c_str());
return 1;
}
RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());
std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
try {
node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);
} catch (const std::exception & ex) {
RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
return 1;
} catch (...) {
RCLCPP_ERROR(logger, "Failed to load library");
return 1;
}
// Scope to destruct node_wrapper before shutdown
{
rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();
exec.add_node(node);

exec.spin();
exec.spin();

for (auto wrapper : node_wrappers) {
exec.remove_node(wrapper.get_node_base_interface());
exec.remove_node(node_wrapper.get_node_base_interface());
}
node_wrappers.clear();

rclcpp::shutdown();

Expand Down