[Personalrobots-commit] SF.net SVN: personalrobots:[23402] pkg/trunk/stacks/common/image_transport/ src/image_publisher.cpp

[<pmi...@us...>]

Revision: 23402
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23402&view=rev
Author:   pmihelich
Date:     2009-08-31 20:27:30 +0000 (Mon, 31 Aug 2009)

Log Message:
-----------
image_transport: Catch exception if fail to load a plugin library.

Modified Paths:
--------------
    pkg/trunk/stacks/common/image_transport/src/image_publisher.cpp

Modified: pkg/trunk/stacks/common/image_transport/src/image_publisher.cpp
===================================================================
--- pkg/trunk/stacks/common/image_transport/src/image_publisher.cpp	2009-08-31 20:16:11 UTC (rev 23401)
+++ pkg/trunk/stacks/common/image_transport/src/image_publisher.cpp	2009-08-31 20:27:30 UTC (rev 23402)
@@ -72,13 +72,19 @@
   impl_->topic = topic;
   
   BOOST_FOREACH(const std::string& lookup_name, impl_->loader.getDeclaredClasses()) {
-    ROS_INFO("Loading %s", lookup_name.c_str());
-    PublisherPlugin* pub = impl_->loader.createClassInstance(lookup_name);
-    impl_->publishers.push_back(pub);
-    // @todo: support overriding the topic names
-    std::string sub_topic = pub->getDefaultTopic(topic);
-    nh.setParam(sub_topic + "/transport_type", pub->getTransportType());
-    pub->advertise(nh, sub_topic, queue_size, latch);
+    //ROS_INFO("Loading %s", lookup_name.c_str());
+    try {
+      PublisherPlugin* pub = impl_->loader.createClassInstance(lookup_name);
+      impl_->publishers.push_back(pub);
+      // @todo: support overriding the topic names
+      std::string sub_topic = pub->getDefaultTopic(topic);
+      nh.setParam(sub_topic + "/transport_type", pub->getTransportType());
+      pub->advertise(nh, sub_topic, queue_size, latch);
+    }
+    catch (const std::runtime_error& e) {
+      ROS_WARN("Failed to load plugin %s, error string: %s",
+               lookup_name.c_str(), e.what());
+    }
   }
 }
 


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