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Refactor bare catch statements to properly print exceptions #84

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Refactor bare catch statements to properly print exceptions #84

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240e70b
Refactor bare catch statements to properly print exceptions
May 10, 2021
5e20eae
formatting
May 10, 2021
119d147
update gitignore
Jun 21, 2021
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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1 +1,3 @@
*~

.vscode/
12 changes: 10 additions & 2 deletions ethzasl_icp_mapper/src/dynamic_mapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,9 @@ void Mapper::processCloud(unique_ptr<DP> new_point_cloud,
- stamp << endl
<< e.what());
return;
} catch (const std::exception &e) {
ROS_ERROR_STREAM("Unexpected exception: " << e.what() << ". Inoring scan.");
return;
} catch (...) {
// Everything else.
ROS_ERROR_STREAM("Unexpected exception... ignoring scan.");
Expand Down Expand Up @@ -461,10 +464,11 @@ void Mapper::updateIcpMap(const DP *new_map_point_cloud) {

icp_.setMap(local_map);
icp_map_lock_.unlock();
} catch (const std::exception &e) {
ROS_ERROR_STREAM("Unexpected exception: " << e.what() << ". Ignoring scan B");
} catch (...) {
// Everything else.
ROS_ERROR_STREAM("Unexpected exception... ignoring scan B");
return;
}
}

Expand Down Expand Up @@ -679,7 +683,11 @@ bool Mapper::correctPose(ethzasl_icp_mapper::CorrectPose::Request &req,
), dim);

updateIcpMap(map_point_cloud_);
} catch (...) {
} catch (const std::exception &e) {
publish_lock_.unlock();
ROS_ERROR_STREAM("Unexpected exception: " << e.what() << ". Inoring scan C");
return false;
} catch (...) {
// everything else
publish_lock_.unlock();
ROS_ERROR_STREAM("Unexpected exception... ignoring scan C");
Expand Down