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Improved the exception handling when the watchdog triggers an emergency stop #15

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Merged
mmmarinho merged 1 commit into from
Jul 31, 2026
Merged

Improved the exception handling when the watchdog triggers an emergency stop #15

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8 changes: 7 additions & 1 deletion src/sas_robot_driver_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,13 @@ int RobotDriverROS::control_loop()

// Any exception from the watchdog thread control loop will be rethrown by check_for_watchdog_exceptions(), and
// consequently the main control loop must stop.
robot_driver_->check_for_watchdog_exceptions();
try {
robot_driver_->check_for_watchdog_exceptions();
} catch (const std::exception& e) {
RCLCPP_INFO_STREAM_ONCE(node_->get_logger(), "::Watchdog exception: " << e.what());
RCLCPP_INFO_STREAM_ONCE(node_->get_logger(), "::The shutdown signal was received!");
shutdown_signaler_->shutdown();
}

}

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