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Continue loading classes on error #85

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Merged
mikaelarguedas merged 4 commits into from
Nov 16, 2017
Merged

Continue loading classes on error #85

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2270586
continue loading classes on error
furushchev Nov 13, 2017
d37daf9
construct string with file rather than adding new API
mikaelarguedas Nov 15, 2017
39c77fe
match style of the rest of the file
mikaelarguedas Nov 15, 2017
5f04567
missing whitespace
mikaelarguedas Nov 15, 2017
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13 changes: 10 additions & 3 deletions include/pluginlib/class_loader_imp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -278,7 +278,13 @@ std::map<std::string, ClassDesc> ClassLoader<T>::determineAvailableClasses(
for (std::vector<std::string>::const_iterator it = plugin_xml_paths.begin();
it != plugin_xml_paths.end(); ++it)
{
processSingleXMLPluginFile(*it, classes_available);
try {
processSingleXMLPluginFile(*it, classes_available);
} catch (const pluginlib::InvalidXMLException & e) {
ROS_ERROR_NAMED("pluginlib.ClassLoader",
"Skipped loading plugin with error: %s.",
e.what());
}
}

ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Exiting determineAvailableClasses()...");
Expand Down Expand Up @@ -645,14 +651,15 @@ void ClassLoader<T>::processSingleXMLPluginFile(
tinyxml2::XMLElement * config = document.RootElement();
if (NULL == config) {
throw pluginlib::InvalidXMLException(
"XML Document has no Root Element. This likely means the XML is malformed or missing.");
"XML Document '" + xml_file +
"' has no Root Element. This likely means the XML is malformed or missing.");
return;
}
if (!(strcmp(config->Value(), "library") == 0 ||
strcmp(config->Value(), "class_libraries") == 0))
{
throw pluginlib::InvalidXMLException(
"The XML document given to add must have either \"library\" or "
"The XML document '" + xml_file + "' given to add must have either \"library\" or "
"\"class_libraries\" as the root tag");
return;
}
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3 changes: 2 additions & 1 deletion test/utest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,8 @@ TEST(PluginlibTest, brokenXML) {
try {
pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar",
"plugin_test");
} catch (pluginlib::InvalidXMLException & ex) {
test_loader.createInstance("pluginlib/foo");
} catch (pluginlib::PluginlibException & ex) {
SUCCEED();
return;
}
Expand Down