fix(controllers): safe interface map check#233
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domire8
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Feb 27, 2026
SprGrf
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Feb 27, 2026
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Nice addition! Did you meet a case where this was required?
SprGrf
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Feb 27, 2026
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Yes, the arm from Duatic has a lot of state interfaces: https://github.com/Duatic/duatic_dynaarm_driver/blob/1b501a976cfdca3f3ca366390b65b91fff5ac934/duatic_dynaarm_driver/duatic_dynaarm_driver/urdf/dynaarm.ros2control.xacro#L38 |
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Description
Quick fix: if a URDF for some reason contains
state_interfaces on a joint level that we don't know for ourstate_representation::JointState(e.g. not one of position, velocity, acceleration or torque), thisinterface_map.at()will throw an uncaught exception. This simple check avoids thatReview guidelines
Estimated Time of Review: 3 minutes
Checklist before merging: