From a6ede587d81c2d0019fe87e86cf43cfbef3de674 Mon Sep 17 00:00:00 2001
From: "Tomoya.Fujita" <Tomoya.Fujita@sony.com>
Date: Thu, 14 May 2020 18:42:11 +0900
Subject: [PATCH] spin_some might throw exception.(#266)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp/topics/minimal_publisher/not_composable.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/rclcpp/topics/minimal_publisher/not_composable.cpp b/rclcpp/topics/minimal_publisher/not_composable.cpp
index 3dc44cbf..e653188b 100644
--- a/rclcpp/topics/minimal_publisher/not_composable.cpp
+++ b/rclcpp/topics/minimal_publisher/not_composable.cpp
@@ -36,8 +36,15 @@ int main(int argc, char * argv[])
   while (rclcpp::ok()) {
     message.data = "Hello, world! " + std::to_string(publish_count++);
     RCLCPP_INFO(node->get_logger(), "Publishing: '%s'", message.data.c_str());
-    publisher->publish(message);
-    rclcpp::spin_some(node);
+    try {
+      publisher->publish(message);
+      rclcpp::spin_some(node);
+    } catch (const rclcpp::exceptions::RCLError &e) {
+      RCLCPP_ERROR(
+        node->get_logger(),
+        "unexpectedly failed with %s",
+        e.what());
+    }
     loop_rate.sleep();
   }
   rclcpp::shutdown();