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Use YAML::BadConversion exception to catch undefined and invalid YAML parameters #1251

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Use YAML::BadConversion exception to catch undefined and invalid YAML parameters #1251

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12 changes: 6 additions & 6 deletions map_server/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,25 +210,25 @@ class MapServer
#endif
try {
doc["resolution"] >> res;
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
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I don't know YAML exceptions well - but should we instead be using the parent class of both InvalidScalar and BadConversion - YAML::RepresentationException?

ROS_ERROR("The map does not contain a resolution tag or it is invalid.");
return false;
}
try {
doc["negate"] >> negate;
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
ROS_ERROR("The map does not contain a negate tag or it is invalid.");
return false;
}
try {
doc["occupied_thresh"] >> occ_th;
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
ROS_ERROR("The map does not contain an occupied_thresh tag or it is invalid.");
return false;
}
try {
doc["free_thresh"] >> free_th;
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
ROS_ERROR("The map does not contain a free_thresh tag or it is invalid.");
return false;
}
Expand All @@ -254,7 +254,7 @@ class MapServer
doc["origin"][0] >> origin[0];
doc["origin"][1] >> origin[1];
doc["origin"][2] >> origin[2];
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
ROS_ERROR("The map does not contain an origin tag or it is invalid.");
return false;
}
Expand All @@ -275,7 +275,7 @@ class MapServer
mapfpath = dir / mapfpath;
mapfname = mapfpath.string();
}
} catch (YAML::InvalidScalar &) {
} catch (YAML::BadConversion &) {
ROS_ERROR("The map does not contain an image tag or it is invalid.");
return false;
}
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