From a53e2bdac292e606706b6d5624b5191e15b10506 Mon Sep 17 00:00:00 2001
From: dwlee <dwlee@yujinrobot.com>
Date: Fri, 19 Dec 2014 15:52:02 +0900
Subject: [PATCH 1/3] add exception handler onStart function

---
 .../rocon_rosjava_core/master_info/MasterInfo.java   | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java b/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
index e841eee..61e39e1 100644
--- a/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
+++ b/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
@@ -33,9 +33,15 @@ public MasterInfo() {
 	}
     @Override
     public void onStart(final ConnectedNode connectedNode) {
-        RosTopicInfo topicInformation = new RosTopicInfo(connectedNode);
-    	String topicName = topicInformation.findTopic("rocon_std_msgs/MasterInfo");
-    	this.masterInfoListener.connect(connectedNode, topicName, rocon_std_msgs.MasterInfo._TYPE);
+        try{
+            RosTopicInfo topicInformation = new RosTopicInfo(connectedNode);
+            String topicName = topicInformation.findTopic("rocon_std_msgs/MasterInfo");
+            this.masterInfoListener.connect(connectedNode, topicName, rocon_std_msgs.MasterInfo._TYPE);    
+        } catch (RosRuntimeException e){
+             return;   
+        }
+
+        
     }
 
     /**

From 19210b583be9e64e1631e0d5e3a782a4d302debe Mon Sep 17 00:00:00 2001
From: dwlee <dwlee@yujinrobot.com>
Date: Fri, 19 Dec 2014 15:52:56 +0900
Subject: [PATCH 2/3] increased timeout for low spec device

---
 .../rocon_rosjava_core/rosjava_utils/ListenerNode.java          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosjava_utils/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/rosjava_utils/ListenerNode.java b/rosjava_utils/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/rosjava_utils/ListenerNode.java
index 88f5988..67739ce 100644
--- a/rosjava_utils/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/rosjava_utils/ListenerNode.java
+++ b/rosjava_utils/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/rosjava_utils/ListenerNode.java
@@ -64,7 +64,7 @@ public void waitForResponse() throws ListenerException, TimeoutException {
                 throw new ListenerException(e);
             }
             // timeout.
-            if ( count == 20 ) {
+            if ( count == 50 ) {
                 this.errorMessage = "timed out waiting for a " + subscriber.getTopicName() + "publication";
                 throw new TimeoutException(this.errorMessage);
             }

From 0881a3bd8b5dd11f595b79afdae02de2bc4ed199 Mon Sep 17 00:00:00 2001
From: dwlee <dwlee@yujinrobot.com>
Date: Sat, 14 Feb 2015 15:27:19 +0900
Subject: [PATCH 3/3] master info error throw not just return

---
 .../master_info/MasterInfo.java               | 21 +++++++++++--------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java b/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
index 8e842e5..76332f9 100644
--- a/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
+++ b/master_info/src/main/java/com/github/robotics_in_concert/rocon_rosjava_core/master_info/MasterInfo.java
@@ -9,11 +9,13 @@
 import com.github.robotics_in_concert.rocon_rosjava_core.rosjava_utils.RosTopicInfo;
 import com.google.common.collect.Lists;
 
+import org.ros.exception.RosRuntimeException;
 import org.ros.internal.loader.CommandLineLoader;
 import org.ros.namespace.GraphName;
 import org.ros.node.AbstractNodeMain;
 import org.ros.node.ConnectedNode;
 import org.ros.node.DefaultNodeMainExecutor;
+import org.ros.node.Node;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMainExecutor;
 
@@ -25,24 +27,25 @@
 
 public class MasterInfo extends AbstractNodeMain {
 
-	private ListenerNode<rocon_std_msgs.MasterInfo> masterInfoListener;
+    private ListenerNode<rocon_std_msgs.MasterInfo> masterInfoListener;
+    public MasterInfo() {
+        this.masterInfoListener = new ListenerNode<rocon_std_msgs.MasterInfo>();
+    }
 
-	public MasterInfo() {
-		this.masterInfoListener = new ListenerNode<rocon_std_msgs.MasterInfo>();
-	}
     @Override
-    public void onStart(final ConnectedNode connectedNode) {
+    public void onStart (final ConnectedNode connectedNode) {
         try{
             RosTopicInfo topicInformation = new RosTopicInfo(connectedNode);
             String topicName = topicInformation.findTopic("rocon_std_msgs/MasterInfo");
             this.masterInfoListener.connect(connectedNode, topicName, rocon_std_msgs.MasterInfo._TYPE);    
         } catch (RosRuntimeException e){
-             return;   
+            try {
+                throw new MasterInfoException(e.getMessage());
+            } catch (MasterInfoException e1) {
+                e1.printStackTrace();
+            }
         }
-
-        
     }
-
     /**
      * Wait for data to come in. This uses a default timeout
      * set by ListenerNode.