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Fix getParam calls skipped by ROS_ASSERT in release builds #318

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Merged
Bluefairy-ljy merged 1 commit into from
Oct 3, 2026
Merged

Fix getParam calls skipped by ROS_ASSERT in release builds #318

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27 changes: 18 additions & 9 deletions rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -805,7 +805,10 @@ class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Floa
public:
explicit JointPositionBinaryCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::Float64>(nh)
{
ROS_ASSERT(nh.getParam("on_pos", on_pos_) && nh.getParam("off_pos", off_pos_));
if (!nh.getParam("on_pos", on_pos_))
ROS_ERROR("on_pos no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("off_pos", off_pos_))
ROS_ERROR("off_pos no defined (namespace: %s)", nh.getNamespace().c_str());
}
void on()
{
Expand Down Expand Up @@ -843,8 +846,12 @@ class CardCommandSender : public CommandSenderBase<std_msgs::Float64>
public:
explicit CardCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::Float64>(nh)
{
ROS_ASSERT(nh.getParam("long_pos", long_pos_) && nh.getParam("short_pos", short_pos_) &&
nh.getParam("off_pos", off_pos_));
if (!nh.getParam("long_pos", long_pos_))
ROS_ERROR("long_pos no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("short_pos", short_pos_))
ROS_ERROR("short_pos no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("off_pos", off_pos_))
ROS_ERROR("off_pos no defined (namespace: %s)", nh.getNamespace().c_str());
}
void long_on()
{
Expand Down Expand Up @@ -882,8 +889,10 @@ class JointJogCommandSender : public CommandSenderBase<std_msgs::Float64>
explicit JointJogCommandSender(ros::NodeHandle& nh, const sensor_msgs::JointState& joint_state)
: CommandSenderBase<std_msgs::Float64>(nh), joint_state_(joint_state)
{
ROS_ASSERT(nh.getParam("joint", joint_));
ROS_ASSERT(nh.getParam("step", step_));
if (!nh.getParam("joint", joint_))
ROS_ERROR("joint no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("step", step_))
ROS_ERROR("step no defined (namespace: %s)", nh.getNamespace().c_str());
}
void reset()
{
Expand Down Expand Up @@ -927,10 +936,7 @@ class JointPointCommandSender : public CommandSenderBase<std_msgs::Float64>
: CommandSenderBase<std_msgs::Float64>(nh), joint_state_(joint_state)
{
if (!nh.getParam("joint", joint_))
{
ROS_ERROR("JointPointCommandSender failed to get 'joint' param under namespace: %s", nh.getNamespace().c_str());
}
ROS_ASSERT(nh.getParam("joint", joint_));
}
void setPoint(double point)
{
Expand Down Expand Up @@ -963,7 +969,10 @@ class CameraSwitchCommandSender : public CommandSenderBase<std_msgs::String>
public:
explicit CameraSwitchCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::String>(nh)
{
ROS_ASSERT(nh.getParam("camera_left_name", camera1_name_) && nh.getParam("camera_right_name", camera2_name_));
if (!nh.getParam("camera_left_name", camera1_name_))
ROS_ERROR("camera_left_name no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("camera_right_name", camera2_name_))
ROS_ERROR("camera_right_name no defined (namespace: %s)", nh.getNamespace().c_str());
msg_.data = camera2_name_;
}
void switchCameraLeft()
Expand Down
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