From 38e7da5d7e9697f5b1e52b954b168700a38abb93 Mon Sep 17 00:00:00 2001
From: Manos Angelidis <angelidis@fortiss.org>
Date: Wed, 11 Nov 2020 16:45:08 +0000
Subject: [PATCH] [NRRPLT-7962] Added error propagation mechanism from opensim
to frontend
Merged in NRRPLT-7962 (pull request #41)
- New subscriber for the ~/error topic
- Functionality that checks whether the error is coming from opensim
mesh handling and propagates the error to the frontend
Approved-by: Stefano Nardo
Approved-by: Sandro Weber
---
gz3d/src/gziface.js | 19 +++++++++++++++++++
gz3d/src/gzsdfparser.js | 5 +++++
2 files changed, 24 insertions(+)
diff --git a/gz3d/src/gziface.js b/gz3d/src/gziface.js
index b428761..9c691a2 100644
--- a/gz3d/src/gziface.js
+++ b/gz3d/src/gziface.js
@@ -158,6 +158,25 @@ GZ3D.GZIface.prototype.onConnected = function() {
};
this.statusTopic.subscribe(statusUpdate.bind(this));
+ this.errorTopic = new ROSLIB.Topic({
+ ros: this.webSocket,
+ name: '~/error',
+ messageType: 'error'
+ });
+
+ var errorUpdate = function (message) {
+ // error with id 1 means that opensim faied to load a mesh
+ if (message.id === 1) {
+ this.emitter.emit('opensimMeshError', message);
+ }
+ // generic gazebo error handling
+ else {
+ console.error(`Error received from gazebo: ${message}`);
+ }
+ };
+
+ this.errorTopic.subscribe(errorUpdate.bind(this));
+
this.materialTopic = new ROSLIB.Topic({
ros: this.webSocket,
name: '~/material',
diff --git a/gz3d/src/gzsdfparser.js b/gz3d/src/gzsdfparser.js
index c501800..b42782a 100644
--- a/gz3d/src/gzsdfparser.js
+++ b/gz3d/src/gzsdfparser.js
@@ -51,6 +51,11 @@ GZ3D.SdfParser.prototype.init = function() {
that.onConnectionError();
}
});
+
+ this.gziface.emitter.on('opensimMeshError', function (error) {
+ that.gui.guiEvents.emit('opensimMeshError', error, 5000);
+ that.onConnectionError();
+ });
};
/**
--
GitLab