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Fix uncaught exception in joint_state_controller #630

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merged 1 commit into from
Mar 1, 2024
Merged

Fix uncaught exception in joint_state_controller #630

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6 changes: 5 additions & 1 deletion joint_state_controller/src/joint_state_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,11 @@ namespace joint_state_controller
// initialize time exactly once, to maintain publish rate through controller resets
if (!pub_time_initialized_)
{
last_publish_time_ = time - ros::Duration(1.001/publish_rate_); //ensure publish on first cycle
try {
last_publish_time_ = time - ros::Duration(1.001/publish_rate_); //ensure publish on first cycle
} catch(std::runtime_error& ex) { // negative ros::Time is not allowed
last_publish_time_ = ros::Time::MIN;
}
pub_time_initialized_ = true;
}
}
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