From 224f5afbd59757f6fbd00ce5483ddb3bbc767a74 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 13 Oct 2020 14:18:34 +0200
Subject: [PATCH] Add checks and
---
source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
index 0fa7cc0b9..2b9499c0d 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
@@ -110,8 +110,12 @@ void EtherCATRTUnit::onInitRobotUnit()
ARMARX_INFO << "EtherCATRTUnit initializing now";
publishRobot = rtGetRobot()->clone();
+ ARMARX_CHECK_EXPRESSION(rtGetRobot()->hasRobotNodeSet("RobotJoints"));
+ ARMARX_CHECK_EXPRESSION(rtGetRobot()->hasRobotNodeSet("RobotCol"));
rtRobotJointSet = rtGetRobot()->getRobotNodeSet("RobotJoints");
rtRobotBodySet = rtGetRobot()->getRobotNodeSet("RobotCol");
+ ARMARX_CHECK_NOT_NULL(rtRobotJointSet);
+ ARMARX_CHECK_NOT_NULL(rtRobotBodySet);
for (auto& node : *rtRobotJointSet)
{
node->setEnforceJointLimits(false);
--
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