add exceptions

Author: facontidavide

behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

@@ -316,6 +316,11 @@ inline bool RosActionNode<T>::createClient(const std::string& action_name)
 
   std::unique_lock lk(getMutex());
   auto node = node_.lock();
+  if(!node)
+  {
+    throw RuntimeError("The ROS node went out of scope. RosNodeParams doesn't take the "
+                       "ownership of the node.");
+  }
   action_client_key_ = std::string(node->get_fully_qualified_name()) + "/" + action_name;
 
   auto& registry = getRegistry();

behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp

@@ -282,6 +282,11 @@ inline bool RosServiceNode<T>::createClient(const std::string& service_name)
 
   std::unique_lock lk(getMutex());
   auto node = node_.lock();
+  if(!node)
+  {
+    throw RuntimeError("The ROS node went out of scope. RosNodeParams doesn't take the "
+                       "ownership of the node.");
+  }
   auto client_key = std::string(node->get_fully_qualified_name()) + "/" + service_name;
 
   auto& registry = getRegistry();

behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp

@@ -250,6 +250,11 @@ inline bool RosTopicSubNode<T>::createSubscriber(const std::string& topic_name)
   std::unique_lock lk(registryMutex());
 
   auto shared_node = node_.lock();
+  if(!node)
+  {
+    throw RuntimeError("The ROS node went out of scope. RosNodeParams doesn't take the "
+                       "ownership of the node.");
+  }
   subscriber_key_ =
       std::string(shared_node->get_fully_qualified_name()) + "/" + topic_name;