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Dynamically load controllers #23

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merged 5 commits into from Jun 24, 2016
Merged

Dynamically load controllers #23

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946acf8
When requested controller not in default list, check parameter server…
velveteenrobot Jun 22, 2016
482a866
Controller loader catches pluginlib exception when trying to load bad…
velveteenrobot Jun 22, 2016
14ca9c4
Fixed naming + style issues
velveteenrobot Jun 22, 2016
f80b889
Just kidding now fixed style issue
velveteenrobot Jun 22, 2016
6f7dd3d
Just kidding now fixed style issue
velveteenrobot Jun 22, 2016
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13 changes: 10 additions & 3 deletions robot_controllers_interface/src/controller_loader.cpp
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Expand Up @@ -46,11 +46,18 @@ bool ControllerLoader::init(const std::string& name, ControllerManager* manager)

if (nh.getParam("type", controller_type))
{
controller_ = plugin_loader_.createInstance(controller_type);
controller_->init(nh, manager);
// If plugin is bad, catch pluginlib exception
try
{
controller_ = plugin_loader_.createInstance(controller_type);
controller_->init(nh, manager);
}
catch (pluginlib::LibraryLoadException e)
{
return false;
}
return true;
}

ROS_ERROR_STREAM("Unable to load controller " << name.c_str());
return false;
}
Expand Down
35 changes: 26 additions & 9 deletions robot_controllers_interface/src/controller_manager.cpp
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Expand Up @@ -254,7 +254,7 @@ void ControllerManager::execute(const robot_controllers_msgs::QueryControllerSta
robot_controllers_msgs::ControllerState state = goal->updates[i];

// Make sure controller exists
bool exists = false;
bool in_controller_list = false;
for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
{
if ((*c)->getController()->getName() == state.name)
Expand All @@ -263,7 +263,7 @@ void ControllerManager::execute(const robot_controllers_msgs::QueryControllerSta
{
if (state.type == (*c)->getController()->getType())
{
exists = true;
in_controller_list = true;
break;
}
else
Expand All @@ -275,17 +275,34 @@ void ControllerManager::execute(const robot_controllers_msgs::QueryControllerSta
return;
}
}
exists = true;
in_controller_list = true;
break;
}
}
if (!exists)
if (!in_controller_list)
{
std::stringstream ss;
ss << "No such controller to update: " << state.name;
getState(result);
server_->setAborted(result, ss.str());
return;
// Check if controller exists on parameter server
ros::NodeHandle nh;
if (nh.hasParam(state.name))
{
// Create controller (in a loader)
if (!load(static_cast<std::string>(state.name)))
{
std::stringstream ss;
ss << "Failed to load controller: " << state.name;
getState(result);
server_->setAborted(result, ss.str());
return;
}
}
else
{
std::stringstream ss;
ss << "No such controller to update: " << state.name;
getState(result);
server_->setAborted(result, ss.str());
return;
}
}

// Update state
Expand Down