From a1a50fd44b5a22796677d06ae337728ea6a07d5a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 2 May 2023 13:23:02 +0200
Subject: [PATCH] Better handle case where robot is not globally localized yet
(i.e., can be loaded but not synchronized)
---
.../libraries/armem_objects/server/instance/Segment.cpp | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index b0726c001..03da4c206 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -1317,7 +1317,13 @@ namespace armarx::armem::server::obj::instance
if (robot)
{
- ARMARX_CHECK(reader->synchronizeRobot(*robot, Clock::Now()));
+ bool synchronized = reader->synchronizeRobot(*robot, Clock::Now());
+ if (not synchronized)
+ {
+ ARMARX_INFO << "The robot '" << robotName << "' could be loaded, but not"
+ << " synchronized successfully (e.g., the global localization could be missing). "
+ << "Make sure to synchronize it before use if necessary.";
+ }
// Store robot if valid.
loaded.emplace(robotName, robot);
}
--
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