[CM] Handle other exceptions while loading the controller plugin (#1731)

ros-controls · Aug 30, 2024 · 045b060 · 045b060
1 parent f743bf4
commit 045b060
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -467,13 +467,21 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
       controller = chainable_loader_->createSharedInstance(controller_type);
     }
   }
-  catch (const pluginlib::CreateClassException & e)
+  catch (const std::exception & e)
   {
     RCLCPP_ERROR(
-      get_logger(), "Error happened during creation of controller '%s' with type '%s':\n%s",
+      get_logger(), "Caught exception while loading the controller '%s' of plugin type '%s':\n%s",
       controller_name.c_str(), controller_type.c_str(), e.what());
     return nullptr;
   }
+  catch (...)
+  {
+    RCLCPP_ERROR(
+      get_logger(),
+      "Caught unknown exception while loading the controller '%s' of plugin type '%s'",
+      controller_name.c_str(), controller_type.c_str());
+    throw;
+  }
 
   ControllerSpec controller_spec;
   controller_spec.c = controller;