Fixed FT Obs: datafield were not created because exception was thrown

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -131,6 +131,11 @@ DatafieldRefBasePtr armarx::ForceTorqueObserver::createNulledDatafield(const Dat
 DatafieldRefBasePtr ForceTorqueObserver::getForceDatafield(const std::string &nodeName, const Ice::Current &)
 {
     auto id = getForceDatafieldId(nodeName, nodeName);
+    if(!existsChannel(id->channelName))
+        throw UserException("No sensor for node '" + nodeName + "'available: channel " + id->channelName);
+    if(!existsDataField(id->channelName, id->dataFieldName))
+        throw UserException("No sensor for node '" + nodeName + "'available: datafield " + id->dataFieldName);
+
     return new DatafieldRef(this, id->channelName, id->dataFieldName);
 
 }
@@ -138,6 +143,11 @@ DatafieldRefBasePtr ForceTorqueObserver::getForceDatafield(const std::string &no
 DatafieldRefBasePtr ForceTorqueObserver::getTorqueDatafield(const std::string &nodeName, const Ice::Current &)
 {
     auto id = getTorqueDatafieldId(nodeName, nodeName);
+    if(!existsChannel(id->channelName))
+        throw UserException("No sensor for node '" + nodeName + "'available: channel " + id->channelName);
+    if(!existsDataField(id->channelName, id->dataFieldName))
+        throw UserException("No sensor for node '" + nodeName + "'available: datafield " + id->dataFieldName);
+
     return new DatafieldRef(this, id->channelName, id->dataFieldName);
 }
 
@@ -149,10 +159,6 @@ DataFieldIdentifierPtr ForceTorqueObserver::getForceDatafieldId(const std::strin
     else
         channelName = nodeName + "_" + frame;
     std::string datafieldName = "forces";
-    if(!existsChannel(channelName))
-        throw UserException("No sensor for node '" + nodeName + "'available: channel " + channelName);
-    if(!existsDataField(channelName, datafieldName))
-        throw UserException("No sensor for node '" + nodeName + "'available: datafield " + datafieldName);
     DataFieldIdentifierPtr id = new DataFieldIdentifier(getName(), channelName, datafieldName);
     return id;
 }