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Small improvements to the error output in component parser to make debugging easier. (backport #1580) #1582

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merged 3 commits into from
Jul 13, 2024
Merged

Small improvements to the error output in component parser to make debugging easier. (backport #1580) #1582

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097a66f
Small improvements to the error output in component parser to make de…
destogl Jun 19, 2024
633ba0e
Fix merge conflict
christophfroehlich Jun 19, 2024
8e8faf2
Merge branch 'iron' into mergify/bp/iron/pr-1580
christophfroehlich Jul 13, 2024
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6 changes: 4 additions & 2 deletions hardware_interface/src/component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -583,11 +583,13 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
tinyxml2::XMLDocument doc;
if (!doc.Parse(urdf.c_str()) && doc.Error())
{
throw std::runtime_error("invalid URDF passed in to robot parser");
throw std::runtime_error(
"invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
}
if (doc.Error())
{
throw std::runtime_error("invalid URDF passed in to robot parser");
throw std::runtime_error(
"invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
}

// Find robot tag
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