Warn instead of fail for non-Earth Dem's on 20.04 (#2828) #2882
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Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Wrap calls to Dem::GetGeoReference and Dem::GetGeoReferenceOrigin in a try/catch block and print error messages if exceptions are caught. The Dem_TEST is still broken, but this prevents crashes. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Also reduce some whitespace in exception messages Signed-off-by: Steve Peters <scpeters@openrobotics.org>
chapulina
approved these changes
Nov 23, 2020
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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A test failure related to the
gazebo::common::Demclass on Ubuntu 20.04 was reported in #2828 and seems to be caused by loading Dem's that are based on a celestial body other than earth. The code doesn't fail like this in 18.04 (though I believe it computes Dem sizes incorrectly as reported in #2881) but it is now failing in 20.04 by returning anullptrfromOGRCreateCoordinateTransformationif the source and target coordinate reference systems refer to different celestial bodies. SinceDem::GetGeoReferencereturnsvoidinstead ofbool, I've added agzthrowto that function if the coordinate transformation is unsuccessful along with try / catch blocks that printgzwarnconsole messages in the two places that call this API:Dem::LoadcallsDem::GetGeoReferencefor the corners of theDemto compute the sizeHeightmapShape::LoadTerrainFilecallsDem::GetGeoReferenceOriginin order to configure theSphericalCoordinatesclass used by the gazebo gui and theGpsSensorThe
UNIT_Dem_TESTwill still fail on 20.04 with these changes, but at least it won't crash.