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Patch for PhotoAtWaypoint plugin #2067

Merged
merged 14 commits into from
Nov 6, 2020
Merged

Patch for PhotoAtWaypoint plugin #2067

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9451abe
nav2_way_point_follower; introduce photo at waypoint arrivals plugin
jediofgever Oct 14, 2020
43c0e86
resolve cmake lint errors
jediofgever Oct 14, 2020
57da3ae
resolve requested chages of first review
jediofgever Oct 15, 2020
c4c92f7
minor corrections on photo_at_waypoint header
jediofgever Oct 15, 2020
8992cbd
resolve requested changes of second review
jediofgever Oct 19, 2020
db8ccd2
update default save_dir
jediofgever Oct 19, 2020
4cadb90
move directory checking code to initialize()
jediofgever Oct 29, 2020
511e064
Merge branch 'main' into main
jediofgever Oct 30, 2020
fd24f28
Merge branch 'main' of https://github.com/ros-planning/navigation2 in…
jediofgever Oct 30, 2020
80b444d
add try catch block to catch possible execeptions while creating a di…
jediofgever Oct 30, 2020
c50618f
adding logging and disabling
SteveMacenski Nov 2, 2020
5e6f2b2
Update nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
SteveMacenski Nov 3, 2020
c130319
merging master
SteveMacenski Nov 5, 2020
d0156a1
Update photo_at_waypoint.cpp
SteveMacenski Nov 5, 2020
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31 changes: 19 additions & 12 deletions nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,22 +54,29 @@ void PhotoAtWaypoint::initialize(

// get inputted save directory and make sure it exists, if not log and create it
save_dir_ = save_dir_as_string;
if (!std::experimental::filesystem::exists(save_dir_)) {
RCLCPP_WARN(
logger_,
"Provided save directory for photo at waypoint plugin does not exist,"
"provided directory is: %s, the directory will be created automatically.",
save_dir_.c_str()
);
if (!std::experimental::filesystem::create_directory(save_dir_)) {
RCLCPP_ERROR(
try {
if (!std::experimental::filesystem::exists(save_dir_)) {
RCLCPP_WARN(
logger_,
"Failed to create directory!: %s required by photo at waypoint plugin, "
"exiting the plugin with failure!",
"Provided save directory for photo at waypoint plugin does not exist,"
"provided directory is: %s, the directory will be created automatically.",
save_dir_.c_str()
);
is_enabled_ = false;
if (!std::experimental::filesystem::create_directory(save_dir_)) {
RCLCPP_ERROR(
logger_,
"Failed to create directory!: %s required by photo at waypoint plugin, "
"exiting the plugin with failure!",
save_dir_.c_str()
);
is_enabled_ = false;
}
}
} catch (const std::exception & e) {
RCLCPP_ERROR(
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logger_, "Exception (%s) thrown while attempting to create image capture directory."
" This task executor is being disabled as it cannot save images.", e.what());
is_enabled_ = false;
}

if (!is_enabled_) {
Expand Down