Rename init() to initialize() and don't throw when reset() fails

moveit · Oct 3, 2021 · 9763273 · 9763273
1 parent 827c098
commit 9763273
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/...planner/global_planner_component/include/moveit/global_planner/global_planner_component.h b/...planner/global_planner_component/include/moveit/global_planner/global_planner_component.h
@@ -82,7 +82,7 @@ class GlobalPlannerComponent : public rclcpp::Node
   void globalPlanningRequestCallback(
       std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>> goal_handle);
 
-  // Initialize planning scene monitor and load pipelines
-  bool init();
+  // Load and initialized global planner plugin and ROS 2 action and topic interfaces
+  bool initialize();
 };
 }  // namespace moveit_hybrid_planning
diff --git a/.../hybrid_planning/global_planner/global_planner_component/src/global_planner_component.cpp b/.../hybrid_planning/global_planner/global_planner_component/src/global_planner_component.cpp
@@ -65,7 +65,7 @@ GlobalPlannerComponent::GlobalPlannerComponent(const rclcpp::NodeOptions& option
     }
     else
     {
-      initialized_ = this->init();
+      initialized_ = this->initialize();
       if (!initialized_)
       {
         timer_->cancel();
@@ -75,7 +75,7 @@ GlobalPlannerComponent::GlobalPlannerComponent(const rclcpp::NodeOptions& option
   });
 }
 
-bool GlobalPlannerComponent::init()
+bool GlobalPlannerComponent::initialize()
 {
   auto node_ptr = shared_from_this();
 
@@ -92,7 +92,7 @@ bool GlobalPlannerComponent::init()
         RCLCPP_INFO(LOGGER, "Received request to cancel global planning goal");
         if (!global_planner_instance_->reset())
         {
-          throw std::runtime_error("Failed to reset the global planner while aborting current global planning");
+          RCLCPP_ERROR(LOGGER, "Failed to reset the global planner while aborting current global planning");
         }
         return rclcpp_action::CancelResponse::ACCEPT;
       },
@@ -154,7 +154,7 @@ void GlobalPlannerComponent::globalPlanningRequestCallback(
   // Reset the global planner
   if (!global_planner_instance_->reset())
   {
-    throw std::runtime_error("Failed to reset the global planner");
+    RCLCPP_ERROR(LOGGER, "Failed to reset the global planner while aborting current global planning");
   }
 };
 }  // namespace moveit_hybrid_planning