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Never return nullptr silently #2969

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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ collision_detection::Contact* processResult(ContactTestData& cdata, collision_de

return &(dr.back());
}

RCLCPP_ERROR(getLogger(), "Result cannot be processed. Returning nullptr, this should never happen!");
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return nullptr;
}

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3 changes: 3 additions & 0 deletions moveit_core/robot_model/src/robot_model.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -1367,7 +1367,10 @@ LinkModel* RobotModel::getLinkModel(const std::string& name, bool* has_link)
const LinkModel* RobotModel::getRigidlyConnectedParentLinkModel(const LinkModel* link)
{
if (!link)
{
RCLCPP_ERROR(getLogger(), "Cannot determine rigidly connected parent link because input link is nullptr");
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return link;
}
const moveit::core::LinkModel* parent_link = link->getParentLinkModel();
const moveit::core::JointModel* joint = link->getParentJointModel();
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27 changes: 26 additions & 1 deletion moveit_core/robot_state/src/robot_state.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -519,6 +519,8 @@ const double* RobotState::getJointPositions(const JointModel* joint) const
{
if (joint->getVariableCount() == 0)
{
RCLCPP_DEBUG(getLogger(), "Cannot get joint positions for joint '%s' because it has no variables",
joint->getName().c_str());
return nullptr;
}
return &position_.at(joint->getFirstVariableIndex());
Expand All @@ -528,6 +530,8 @@ const double* RobotState::getJointVelocities(const JointModel* joint) const
{
if (joint->getVariableCount() == 0)
{
RCLCPP_DEBUG(getLogger(), "Cannot get joint velocities for joint '%s' because it has no variables",
joint->getName().c_str());
return nullptr;
}
return &velocity_.at(joint->getFirstVariableIndex());
Expand All @@ -537,6 +541,8 @@ const double* RobotState::getJointAccelerations(const JointModel* joint) const
{
if (joint->getVariableCount() == 0)
{
RCLCPP_DEBUG(getLogger(), "Cannot get joint accelerations for joint '%s' because it has no variables",
joint->getName().c_str());
return nullptr;
}
return &effort_or_acceleration_.at(joint->getFirstVariableIndex());
Expand All @@ -546,6 +552,8 @@ const double* RobotState::getJointEffort(const JointModel* joint) const
{
if (joint->getVariableCount() == 0)
{
RCLCPP_DEBUG(getLogger(), "Cannot get joint effort for joint '%s' because it has no variables",
joint->getName().c_str());
return nullptr;
}
return &effort_or_acceleration_.at(joint->getFirstVariableIndex());
Expand Down Expand Up @@ -911,24 +919,41 @@ const LinkModel* RobotState::getRigidlyConnectedParentLinkModel(const std::strin
{
const LinkModel* link{ nullptr };

// Resolve the rigidly connected parent link for the given frame
size_t idx = 0;
if ((idx = frame.find('/')) != std::string::npos)
{ // resolve sub frame
{ // Check if the frame has a subframe
std::string object{ frame.substr(0, idx) };
if (!hasAttachedBody(object))
{
RCLCPP_DEBUG(getLogger(),
"Cannot find rigidly connected parent link for frame '%s' because there is no attached body.",
frame.c_str());
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return nullptr;
}
auto body{ getAttachedBody(object) };
if (!body->hasSubframeTransform(frame))
{
RCLCPP_DEBUG(getLogger(),
"Cannot find rigidly connected parent link for frame '%s' because the transformation to the parent "
"link is unknown.",
frame.c_str());
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return nullptr;
}
link = body->getAttachedLink();
}
else if (hasAttachedBody(frame))
{
// If the frame is an attached body, get the attached link
link = getAttachedBody(frame)->getAttachedLink();
}
else if (getRobotModel()->hasLinkModel(frame))
{
// If the frame is a link in the robot model, get the link model
link = getLinkModel(frame);
}

// Return the rigidly connected parent link model for the given frame
return getRobotModel()->getRigidlyConnectedParentLinkModel(link);
}

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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,7 @@ std::unique_ptr<KDL::Path> TrajectoryGeneratorCIRC::setPathCIRC(const MotionPlan
throw CenterPointDifferentRadius(os.str());
}

RCLCPP_ERROR(getLogger(), "Result cannot set path CIRC. Returning nullptr, this should never happen!");
return nullptr;
}

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