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Small improvements to the error output in component parser to make de…
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…bugging easier. (backport #1580) (#1582)

* Small improvements to the error output in component parser to make debugging easier. (#1580)

* Small improvements to the error output in component parser to make debugging easier.

* Correct formatting.

(cherry picked from commit fbb893b)

# Conflicts:
#	hardware_interface/src/component_parser.cpp

* Fix merge conflict

---------

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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4 people authored Jul 13, 2024
1 parent 3abe840 commit 5ab3bd2
Showing 1 changed file with 4 additions and 2 deletions.
6 changes: 4 additions & 2 deletions hardware_interface/src/component_parser.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -583,11 +583,13 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
tinyxml2::XMLDocument doc;
if (!doc.Parse(urdf.c_str()) && doc.Error())
{
throw std::runtime_error("invalid URDF passed in to robot parser");
throw std::runtime_error(
"invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
}
if (doc.Error())
{
throw std::runtime_error("invalid URDF passed in to robot parser");
throw std::runtime_error(
"invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
}

// Find robot tag
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