ArViz: Handle not readable robot files explicitly

source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp

@@ -34,17 +34,14 @@ namespace armarx::viz::coin
                             << "\n\t'" << filename << "'"
                             << "\nConsider specifying the containing ArmarX package and relative data path instead to "
                             << "improve portability to other systems.";
-                fullFilename = filename;
             }
-            else
+            // We need to always check that the file is readable otherwise, VirtualRobot::RobotIO::loadRobot crashes
+            ArmarXDataPath::FindPackageAndAddDataPath(project);
+            if (!ArmarXDataPath::SearchReadableFile(filename, fullFilename))
             {
-                ArmarXDataPath::FindPackageAndAddDataPath(project);
-                if (!ArmarXDataPath::SearchReadableFile(filename, fullFilename))
-                {
-                    ARMARX_INFO << deactivateSpam()
-                                << "Unable to find readable file for name: " << filename;
-                    return result;
-                }
+                ARMARX_INFO << deactivateSpam()
+                            << "Unable to find readable file for name: " << filename;
+                return result;
             }
 
             try
@@ -59,10 +56,18 @@ namespace armarx::viz::coin
                 //                }
                 ARMARX_INFO << "Loading robot from " << fullFilename;
                 result = VirtualRobot::RobotIO::loadRobot(fullFilename, loadMode);
-                result->setThreadsafe(false);
-                // Do we want to propagate joint values? Probably not...
-                // Closing the hand on the real robot could be implemented on another level
-                result->setPropagatingJointValuesEnabled(false);
+                if (result)
+                {
+                    result->setThreadsafe(false);
+                    // Do we want to propagate joint values? Probably not...
+                    // Closing the hand on the real robot could be implemented on another level
+                    result->setPropagatingJointValuesEnabled(false);
+                }
+                else
+                {
+                    ARMARX_WARNING << "Could not load robot from file: " << fullFilename
+                                   << "\nReason: loadRobot() returned nullptr";
+                }
             }
             catch (std::exception const& ex)
             {