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simulator_ignition_bridge: init error handling

This commit is contained in:
Daniel Agar 2022-09-01 14:13:14 -04:00
parent 43c5f14aa0
commit 3da0293369
1 changed files with 5 additions and 2 deletions
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7
src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
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@ -80,8 +80,8 @@ int SimulatorIgnitionBridge::init()
std::string create_service = "/world/" + _world_name + "/create";
if (_node.Request(create_service, req, 1000, rep, result)) {
if (!result) {
PX4_ERR("Service call failed");
if (!rep.data() || !result) {
PX4_ERR("EntityFactory service call failed");
return PX4_ERROR;
}
@ -95,6 +95,7 @@ int SimulatorIgnitionBridge::init()
std::string clock_topic = "/world/" + _world_name + "/clock";
if (!_node.Subscribe(clock_topic, &SimulatorIgnitionBridge::clockCallback, this)) {
PX4_ERR("failed to subscribe to %s", clock_topic.c_str());
return PX4_ERROR;
}
@ -102,6 +103,7 @@ int SimulatorIgnitionBridge::init()
std::string world_pose_topic = "/world/" + _world_name + "/pose/info";
if (!_node.Subscribe(world_pose_topic, &SimulatorIgnitionBridge::poseInfoCallback, this)) {
PX4_ERR("failed to subscribe to %s", world_pose_topic.c_str());
return PX4_ERROR;
}
@ -109,6 +111,7 @@ int SimulatorIgnitionBridge::init()
std::string imu_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/base_link/sensor/imu_sensor/imu";
if (!_node.Subscribe(imu_topic, &SimulatorIgnitionBridge::imuCallback, this)) {
PX4_ERR("failed to subscribe to %s", imu_topic.c_str());
return PX4_ERROR;
}