Proper return value after assert

[mikaelarguedas]

In release mode these asserts are removed and the code keeps going through normal codepath, it should print errors and return values accordingly.

Replaces #80

Connects to #67

[mikaelarguedas]

@pbeeson I reenabled the asserts here but printed proper error messages and return values as per your original fix. If you want to remove these asserts you'll need to use the binaries or compile your code with the build type "Debug".

@ros/ros_team This being a change in behavior for the released packages I'd like a review + feedback on the distributions it should be released into. Thanks!

[dirk-thomas]

Since the changes "fix" undefined behavior I don't see a reason not to release it inot all ROS distros.

[dirk-thomas]

If gm_ is being checked that should happen at the beginning of the function. Otherwise line 94 would already 💥

[dirk-thomas]

Please use { ... }. Otherwise the logic is broken if the macro is being defined as empty.

Arguably raising an exception might be more appropriate here.

Same below.

Nitpick: non-valid -> invalid.

[dirk-thomas]

This is a case which shouldn't be possible based on the logic of the class. An assert which is also effective in release builds would be sufficient imo.

It could also be changed to:

if (execute_thread_) {
  execute_thread_->join();
  delete execute_thread_;
  execute_thread_ = NULL;
}

[mikaelarguedas]

thanks for the feedback! Given that nothing throws in this code I didn't add exceptions for now. I think I address every other comment

[mikaelarguedas]

thanks @pbeeson for reporting the issue and contributing a fix

[pbeeson]

Thanks for handling this.

…

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