From e8f9fd588c6e6076c95f19eba9bb01916f2ad103 Mon Sep 17 00:00:00 2001
From: dmronga <dennis.mronga@dfki.de>
Date: Tue, 21 Nov 2023 23:20:09 +0100
Subject: [PATCH] Add error handling for update_rate

---
 src/whole_body_controller.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/whole_body_controller.cpp b/src/whole_body_controller.cpp
index 1337f05..a148391 100644
--- a/src/whole_body_controller.cpp
+++ b/src/whole_body_controller.cpp
@@ -119,6 +119,10 @@ controller_interface::CallbackReturn WholeBodyController::on_configure(const rcl
         RCLCPP_INFO_THROTTLE(get_node()->get_logger(), *get_node()->get_clock(), 5000, "Waiting for parameter %s.", "/update_rate");
         usleep(100000);
     }
+    if(update_rate <= 0){
+        RCLCPP_FATAL(get_node()->get_logger(), "Update Rate parameter is %i. Did you forget to set it?", update_rate);
+        throw std::runtime_error("Invalid update_rate parameter");
+    }
 
     RobotModelConfig robot_model_cfg;
     robot_model_cfg.file_or_string       = urdf_string;