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Fix LoadFromBag assumptions causing C++ exceptions during serialization (backport #438) #469

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@mergify mergify bot commented Jul 29, 2024

Description

  • Not all bags have only GridMap messages
  • Not all bags have GridMap on the right topic
  • Add test for trying to load a grid map from a bag that doesn't contain it on the expected topic
  • Add nullptr check on reader messages

Demo

image

Details

I uploaded a super small bagfile of two chatter topics. It's very small:

ryan@B650-970:~/Dev/ros2_ws/src/grid_map/grid_map_ros$ ll -h resource/double_chatter/
total 56K
drwxrwxr-x 2 ryan ryan 4.0K Feb 16 11:48 ./
drwxrwxr-x 3 ryan ryan 4.0K Feb 16 11:49 ../
-rw-r--r-- 1 ryan ryan  40K Feb 16 00:50 double_chatter.db3
-rw-rw-r-- 1 ryan ryan 4.8K Feb 16 11:48 metadata.yaml

It might be better to construct the bag file on the fly in the test case, but that would take much more time than what I did here.

Issue

Solves #401


This is an automatic backport of pull request #438 done by Mergify.

…on (#438)

Fix LoadFromBag assumptions

* Not all bags have only GridMap messages
* Not all bags have GridMap on the right topic
* Add test for trying to load a grid map from a bag that doesn't
  contain it on the expected topic
* Add nullptr check on reader messages
* Remove unused include
* Don't skip reporting when tests fail

(cherry picked from commit 25a1ea5)
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