From 0fa410b67bca2451e291d51b73170c6d96bdb0c6 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <saisastra3@gmail.com>
Date: Fri, 30 Aug 2024 17:49:30 +0200
Subject: [PATCH] [CM] Handle other exceptions while loading the controller
 plugin (#1731)

(cherry picked from commit 045b0602a767a467ca6a9f19d89d3225c0176b97)
---
 controller_manager/src/controller_manager.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 7ec2216588..1d82f6b5d2 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -556,13 +556,21 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
       controller = chainable_loader_->createSharedInstance(controller_type);
     }
   }
-  catch (const pluginlib::CreateClassException & e)
+  catch (const std::exception & e)
   {
     RCLCPP_ERROR(
-      get_logger(), "Error happened during creation of controller '%s' with type '%s':\n%s",
+      get_logger(), "Caught exception while loading the controller '%s' of plugin type '%s':\n%s",
       controller_name.c_str(), controller_type.c_str(), e.what());
     return nullptr;
   }
+  catch (...)
+  {
+    RCLCPP_ERROR(
+      get_logger(),
+      "Caught unknown exception while loading the controller '%s' of plugin type '%s'",
+      controller_name.c_str(), controller_type.c_str());
+    throw;
+  }
 
   ControllerSpec controller_spec;
   controller_spec.c = controller;