Skip to content

chore: remove is node initialized check #245

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
domire8 merged 3 commits into from
Apr 8, 2026
Merged

chore: remove is node initialized check #245

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
6490dba
chore: remove is node initialized check
Apr 7, 2026
d801013
fix
Apr 7, 2026
e2e067c
fix: tests
Apr 8, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 0 additions & 9 deletions source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,12 +450,6 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
*/
std::timed_mutex& get_command_mutex();

/**
* @brief Check if the node has been initialized or not.
* @return True if the node is initialized, false otherwise
*/
bool is_node_initialized() const;

private:
/**
* @brief Parameter validation function
Expand Down Expand Up @@ -1182,9 +1176,6 @@ template<typename T>
inline void BaseControllerInterface::publish_transforms(
const std::vector<state_representation::CartesianPose>& transforms, const std::shared_ptr<T>& tf_broadcaster,
bool is_static) {
if (!is_node_initialized()) {
throw modulo_core::exceptions::CoreException("Failed send transform(s): Node is not initialized yet.");
}
std::string modifier = is_static ? "static " : "";
if (tf_broadcaster == nullptr) {
RCLCPP_ERROR_STREAM_THROTTLE(
Expand Down
74 changes: 28 additions & 46 deletions source/modulo_controllers/src/BaseControllerInterface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ void BaseControllerInterface::pre_set_parameters_callback(std::vector<rclcpp::Pa

// convert the ROS parameter into a ParameterInterface without modifying the original
auto new_parameter = translators::read_parameter_const(ros_parameter, parameter);
if (!this->validate_parameter(new_parameter)) {
if (!validate_parameter(new_parameter)) {
result.successful = false;
result.reason += "Validation of parameter '" + ros_parameter.get_name() + "' returned false!";
} else if (!new_parameter->is_empty()) {
Expand Down Expand Up @@ -197,7 +197,7 @@ void BaseControllerInterface::add_predicate(
RCLCPP_DEBUG(get_node()->get_logger(), "Adding predicate '%s'.", predicate_name.c_str());
}
try {
this->predicates_.insert_or_assign(predicate_name, Predicate(predicate_function));
predicates_.insert_or_assign(predicate_name, Predicate(predicate_function));
} catch (const std::exception& ex) {
RCLCPP_ERROR(
get_node()->get_logger(), "Failed to evaluate callback of predicate '%s', returning false: %s",
Expand Down Expand Up @@ -501,44 +501,41 @@ BaseControllerInterface::validate_service_name(const std::string& service_name,

void BaseControllerInterface::add_service(
const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback) {
this->create_service<true>(service_name, callback);
create_service<true>(service_name, callback);
}

void BaseControllerInterface::add_service(
const std::string& service_name,
const std::function<ControllerServiceResponse(const std::string& string)>& callback) {
this->create_service<true>(service_name, callback);
create_service<true>(service_name, callback);
}

void BaseControllerInterface::add_service_lockfree(
const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback) {
this->create_service<false>(service_name, callback);
create_service<false>(service_name, callback);
}

void BaseControllerInterface::add_service_lockfree(
const std::string& service_name,
const std::function<ControllerServiceResponse(const std::string& string)>& callback) {
this->create_service<false>(service_name, callback);
create_service<false>(service_name, callback);
}

void BaseControllerInterface::add_tf_listener() {
if (!is_node_initialized()) {
throw modulo_core::exceptions::CoreException("Failed to add TF buffer and listener: Node is not initialized yet.");
}
if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF buffer and listener.");
if (tf_buffer_ == nullptr || tf_listener_ == nullptr) {
RCLCPP_DEBUG(get_node()->get_logger(), "Adding TF buffer and listener.");
console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
this->tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_node()->get_clock());
this->tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*this->tf_buffer_);
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(get_node()->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
} else {
RCLCPP_DEBUG(this->get_node()->get_logger(), "TF buffer and listener already exist.");
RCLCPP_DEBUG(get_node()->get_logger(), "TF buffer and listener already exist.");
}
}

state_representation::CartesianPose BaseControllerInterface::lookup_transform(
const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
const tf2::Duration& duration) {
auto transform = this->lookup_ros_transform(frame, reference_frame, time_point, duration);
auto transform = lookup_ros_transform(frame, reference_frame, time_point, duration);
state_representation::CartesianPose result(frame, reference_frame);
translators::read_message(result, transform);
return result;
Expand All @@ -548,9 +545,9 @@ state_representation::CartesianPose BaseControllerInterface::lookup_transform(
const std::string& frame, const std::string& reference_frame, double validity_period,
const tf2::Duration& duration) {
auto transform =
this->lookup_ros_transform(frame, reference_frame, tf2::TimePoint(std::chrono::microseconds(0)), duration);
lookup_ros_transform(frame, reference_frame, tf2::TimePoint(std::chrono::microseconds(0)), duration);
if (validity_period > 0.0
&& (this->get_node()->get_clock()->now() - transform.header.stamp).seconds() > validity_period) {
&& (get_node()->get_clock()->now() - transform.header.stamp).seconds() > validity_period) {
throw modulo_core::exceptions::LookupTransformException("Failed to lookup transform: Latest transform is too old!");
}
state_representation::CartesianPose result(frame, reference_frame);
Expand All @@ -561,59 +558,53 @@ state_representation::CartesianPose BaseControllerInterface::lookup_transform(
geometry_msgs::msg::TransformStamped BaseControllerInterface::lookup_ros_transform(
const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
const tf2::Duration& duration) {
if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
if (tf_buffer_ == nullptr || tf_listener_ == nullptr) {
throw modulo_core::exceptions::LookupTransformException(
"Failed to lookup transform: No TF buffer / listener configured.");
}
try {
return this->tf_buffer_->lookupTransform(reference_frame, frame, time_point, duration);
return tf_buffer_->lookupTransform(reference_frame, frame, time_point, duration);
} catch (const tf2::TransformException& ex) {
throw modulo_core::exceptions::LookupTransformException(
std::string("Failed to lookup transform: ").append(ex.what()));
}
}

void BaseControllerInterface::add_tf_broadcaster() {
if (!is_node_initialized()) {
throw modulo_core::exceptions::CoreException("Failed to add TF broadcaster: Node is not initialized yet.");
}
if (this->tf_broadcaster_ == nullptr) {
RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF broadcaster.");
if (tf_broadcaster_ == nullptr) {
RCLCPP_DEBUG(get_node()->get_logger(), "Adding TF broadcaster.");
console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
this->tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(get_node());
tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(get_node());
} else {
RCLCPP_DEBUG(this->get_node()->get_logger(), "TF broadcaster already exists.");
RCLCPP_DEBUG(get_node()->get_logger(), "TF broadcaster already exists.");
}
}

void BaseControllerInterface::add_static_tf_broadcaster() {
if (!is_node_initialized()) {
throw modulo_core::exceptions::CoreException("Failed to add static TF broadcaster: Node is not initialized yet.");
}
if (this->static_tf_broadcaster_ == nullptr) {
RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding static TF broadcaster.");
if (static_tf_broadcaster_ == nullptr) {
RCLCPP_DEBUG(get_node()->get_logger(), "Adding static TF broadcaster.");
console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
this->static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(get_node());
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(get_node());
} else {
RCLCPP_DEBUG(this->get_node()->get_logger(), "Static TF broadcaster already exists.");
RCLCPP_DEBUG(get_node()->get_logger(), "Static TF broadcaster already exists.");
}
}

void BaseControllerInterface::send_transform(const state_representation::CartesianPose& transform) {
this->send_transforms(std::vector<state_representation::CartesianPose>{transform});
send_transforms(std::vector<state_representation::CartesianPose>{transform});
}

void BaseControllerInterface::send_transforms(const std::vector<state_representation::CartesianPose>& transforms) {
this->publish_transforms(transforms, this->tf_broadcaster_);
publish_transforms(transforms, tf_broadcaster_);
}

void BaseControllerInterface::send_static_transform(const state_representation::CartesianPose& transform) {
this->send_static_transforms(std::vector<state_representation::CartesianPose>{transform});
send_static_transforms(std::vector<state_representation::CartesianPose>{transform});
}

void BaseControllerInterface::send_static_transforms(
const std::vector<state_representation::CartesianPose>& transforms) {
this->publish_transforms(transforms, this->static_tf_broadcaster_, true);
publish_transforms(transforms, static_tf_broadcaster_, true);
}

rclcpp::QoS BaseControllerInterface::get_qos() const {
Expand All @@ -632,13 +623,4 @@ std::timed_mutex& BaseControllerInterface::get_command_mutex() {
return command_mutex_;
}

bool BaseControllerInterface::is_node_initialized() const {
try {
get_node();
return true;
} catch (const std::runtime_error&) {
return false;
}
}

}// namespace modulo_controllers
8 changes: 4 additions & 4 deletions source/modulo_controllers/test/test_controller_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -220,11 +220,11 @@ TYPED_TEST_P(ControllerInterfaceTest, OutputTest) {
}

TYPED_TEST_P(ControllerInterfaceTest, TF) {
EXPECT_THROW(this->interface_->add_tf_broadcaster(), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->add_static_tf_broadcaster(), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->add_tf_listener(), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->add_tf_broadcaster(), std::runtime_error);
EXPECT_THROW(this->interface_->add_static_tf_broadcaster(), std::runtime_error);
EXPECT_THROW(this->interface_->add_tf_listener(), std::runtime_error);
auto send_early_tf = state_representation::CartesianPose::Random("controller_test", "world");
EXPECT_THROW(this->interface_->send_transform(send_early_tf), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->send_transform(send_early_tf), std::runtime_error);
this->init();
this->interface_->add_tf_broadcaster();
this->interface_->add_static_tf_broadcaster();
Expand Down
Loading