joint_ctrl_mode: dont throw on non existing joint

alaurenzi · alaurenzi · commit 076996459cbf · 2026-02-24T16:11:41.000+01:00
diff --git a/src/ros/RosExecutor.cpp b/src/ros/RosExecutor.cpp
@@ -185,7 +185,8 @@ void RosExecutor::init_customize_command()
 
         if(!_robot->hasJoint(j))
         {
-            throw std::runtime_error("Joint ctrl mode map contains non existing joint '" + j + "'");
+            RCLCPP_WARN(_node->get_logger(), "Joint '%s' in joint_ctrl_mode does not exist, skipping", j.c_str());
+            continue;
         }
 
         XBot::ControlMode::Type mode = static_cast<XBot::ControlMode::Type>(mode_int);

Original file line number	Diff line number	Diff line change
`@@ -185,7 +185,8 @@ void RosExecutor::init_customize_command()`
`185`	`185`
`186`	`186`	`if(!_robot->hasJoint(j))`
`187`	`187`	`{`
`188`		`- throw std::runtime_error("Joint ctrl mode map contains non existing joint '" + j + "'");`
	`188`	`+ RCLCPP_WARN(_node->get_logger(), "Joint '%s' in joint_ctrl_mode does not exist, skipping", j.c_str());`
	`189`	`+ continue;`
`189`	`190`	`}`
`190`	`191`
`191`	`192`	`XBot::ControlMode::Type mode = static_cast<XBot::ControlMode::Type>(mode_int);`