small fixes

source/RobotAPI/libraries/skills/core/FluxioSkill.cpp

@@ -268,6 +268,7 @@ namespace armarx
         void
         FluxioSkill::removeSubSkillNodesAndEdges(const std::string& skillId)
         {
+            std::vector<std::string> nodeIdsToDelete = {};
             for (const auto& [nodeId, nodePtr] : nodes)
             {
                 if (nodePtr->nodeType != FluxioNodeType::SUBSKILL)
@@ -275,17 +276,22 @@ namespace armarx
                     continue;
                 }
 
-                const auto* subSkillNode = dynamic_cast<FluxioSubSkillNode*>(nodePtr);
-                if (subSkillNode != nullptr && subSkillNode->skillPtr->id == skillId)
+                const auto* subSkillNodePtr = dynamic_cast<FluxioSubSkillNode*>(nodePtr);
+                if (subSkillNodePtr != nullptr && subSkillNodePtr->skillPtr->id == skillId)
                 {
-                    // subSkillNodeIds.push_back(nodeId);
-                    nodes.erase(nodeId);
                     edges.remove_if(
                         [nodeId](const FluxioEdge& e) {
                             return e.fromNodePtr->nodeId == nodeId || e.toNodePtr->nodeId == nodeId;
                         });
+
+                    nodeIdsToDelete.push_back(nodeId);
                 }
             }
+
+            for(const auto& id: nodeIdsToDelete)
+            {
+                nodes.erase(id);
+            }
         }
 
         FluxioSkill*

source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp

@@ -35,6 +35,12 @@ namespace armarx::skills
     FluxioCompositeExecutor::run(const std::string executorName,
                                  armarx::aron::data::DictPtr parameters)
     {
+        if (skill == nullptr)
+        {
+            ARMARX_WARNING << "Skill is not set";
+            setStatus(skills::SkillStatus::Failed);
+            return;
+        }
 
         ARMARX_INFO << "Running skill " << skill->name;
         setStatus(skills::SkillStatus::Constructing);
@@ -44,6 +50,7 @@ namespace armarx::skills
         {
 
             ARMARX_WARNING << "Skill execution cancelled.";
+            setStatus(skills::SkillStatus::Failed);
             return;
         }
 

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp

@@ -1080,15 +1080,15 @@ namespace armarx::plugins
 
         if (mutexesAquired)
         {
-            ARMARX_WARNING << "Deleting skill '" << skillIt->second.name << "' (" << skillId
-                           << ").";
-            fluxioDC.skills.erase(skillId);
-
             ARMARX_WARNING << "Updating affected skills.";
             for (const auto& affectedSkill : affectedSkills)
             {
                 affectedSkill->removeSubSkillNodesAndEdges(skillId);
             }
+
+            ARMARX_WARNING << "Deleting skill '" << skillIt->second.name << "' (" << skillId
+                           << ").";
+            fluxioDC.skills.erase(skillId);
         }
         else
         {