From 7ca9b6df3382b7b6d380f3b6c0ef2cebdc5441e3 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 29 Aug 2024 09:42:37 +0200
Subject: [PATCH] [CM] Handle also other exceptions while loading the
 controller

---
 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 275f12f542..7300781cef 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -467,13 +467,21 @@ 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());
+    return nullptr;
+  }
 
   ControllerSpec controller_spec;
   controller_spec.c = controller;