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Fix crash for missing urdf in resource manager (backport #1301) #1313

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merged 1 commit into from
Jan 20, 2024
Merged

Fix crash for missing urdf in resource manager (backport #1301) #1313

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6 changes: 5 additions & 1 deletion hardware_interface/include/hardware_interface/resource_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,8 +86,12 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
* \param[in] urdf string containing the URDF.
* \param[in] validate_interfaces boolean argument indicating whether the exported
* interfaces ought to be validated. Defaults to true.
* \param[in] load_and_initialize_components boolean argument indicating whether to load and
* initialize the components present in the parsed URDF. Defaults to true.
*/
void load_urdf(const std::string & urdf, bool validate_interfaces = true);
void load_urdf(
const std::string & urdf, bool validate_interfaces = true,
bool load_and_initialize_components = true);

/**
* @brief if the resource manager load_urdf(...) function has been called this returns true.
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34 changes: 19 additions & 15 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -756,30 +756,34 @@ ResourceManager::ResourceManager(
}

// CM API: Called in "callback/slow"-thread
void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfaces)
void ResourceManager::load_urdf(
const std::string & urdf, bool validate_interfaces, bool load_and_initialize_components)
{
is_urdf_loaded__ = true;
const std::string system_type = "system";
const std::string sensor_type = "sensor";
const std::string actuator_type = "actuator";

const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
for (const auto & individual_hardware_info : hardware_info)
if (load_and_initialize_components)
{
if (individual_hardware_info.type == actuator_type)
for (const auto & individual_hardware_info : hardware_info)
{
std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
resource_storage_->load_and_initialize_actuator(individual_hardware_info);
}
if (individual_hardware_info.type == sensor_type)
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
resource_storage_->load_and_initialize_sensor(individual_hardware_info);
}
if (individual_hardware_info.type == system_type)
{
std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
resource_storage_->load_and_initialize_system(individual_hardware_info);
if (individual_hardware_info.type == actuator_type)
{
std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
resource_storage_->load_and_initialize_actuator(individual_hardware_info);
}
if (individual_hardware_info.type == sensor_type)
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
resource_storage_->load_and_initialize_sensor(individual_hardware_info);
}
if (individual_hardware_info.type == system_type)
{
std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
resource_storage_->load_and_initialize_system(individual_hardware_info);
}
}
}

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