Remove all exit(-1) crash conditions

nav2_behavior_tree/plugins/condition/transform_available_condition.cpp

@@ -39,7 +39,7 @@ TransformAvailableCondition::TransformAvailableCondition(
     RCLCPP_FATAL(
       node_->get_logger(), "Child frame (%s) or parent frame (%s) were empty.",
       child_frame_.c_str(), parent_frame_.c_str());
-    exit(-1);
+    throw std::runtime_error("TransformAvailableCondition: Child or parent frames not provided!");
   }
 
   RCLCPP_DEBUG(node_->get_logger(), "Initialized an TransformAvailableCondition BT node");

nav2_behaviors/src/behavior_server.cpp

@@ -105,13 +105,13 @@ BehaviorServer::loadBehaviorPlugins()
   auto node = shared_from_this();
 
   for (size_t i = 0; i != behavior_ids_.size(); i++) {
-    behavior_types_[i] = nav2_util::get_plugin_type_param(node, behavior_ids_[i]);
     try {
+      behavior_types_[i] = nav2_util::get_plugin_type_param(node, behavior_ids_[i]);
       RCLCPP_INFO(
         get_logger(), "Creating behavior plugin %s of type %s",
         behavior_ids_[i].c_str(), behavior_types_[i].c_str());
       behaviors_.push_back(plugin_loader_.createUniqueInstance(behavior_types_[i]));
-    } catch (const pluginlib::PluginlibException & ex) {
+    } catch (const std::exception & ex) {
       RCLCPP_FATAL(
         get_logger(), "Failed to create behavior %s of type %s."
         " Exception: %s", behavior_ids_[i].c_str(), behavior_types_[i].c_str(),

nav2_bt_navigator/src/bt_navigator.cpp

@@ -161,8 +161,8 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   // Load navigator plugins
   for (size_t i = 0; i != navigator_ids.size(); i++) {
-    std::string navigator_type = nav2_util::get_plugin_type_param(node, navigator_ids[i]);
     try {
+      std::string navigator_type = nav2_util::get_plugin_type_param(node, navigator_ids[i]);
       RCLCPP_INFO(
         get_logger(), "Creating navigator id %s of type %s",
         navigator_ids[i].c_str(), navigator_type.c_str());
@@ -173,11 +173,10 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
       {
         return nav2_util::CallbackReturn::FAILURE;
       }
-    } catch (const pluginlib::PluginlibException & ex) {
+    } catch (const std::exception & ex) {
       RCLCPP_FATAL(
-        get_logger(), "Failed to create navigator id %s of type %s."
-        " Exception: %s", navigator_ids[i].c_str(), navigator_type.c_str(),
-        ex.what());
+        get_logger(), "Failed to create navigator id %s."
+        " Exception: %s", navigator_ids[i].c_str(), ex.what());
       return nav2_util::CallbackReturn::FAILURE;
     }
   }

nav2_collision_monitor/src/collision_detector_node.cpp

@@ -224,7 +224,6 @@ bool CollisionDetector::configurePolygons(
           polygon_name.c_str());
         return false;
       }
-
     }
   } catch (const std::exception & ex) {
     RCLCPP_ERROR(get_logger(), "Error while getting parameters: %s", ex.what());

nav2_controller/src/controller_server.cpp

@@ -142,7 +142,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
         progress_checker_ids_[i].c_str(), progress_checker_types_[i].c_str());
       progress_checker->initialize(node, progress_checker_ids_[i]);
       progress_checkers_.insert({progress_checker_ids_[i], progress_checker});
-    } catch (const pluginlib::PluginlibException & ex) {
+    } catch (const std::exception & ex) {
       RCLCPP_FATAL(
         get_logger(),
         "Failed to create progress_checker. Exception: %s", ex.what());

nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp

@@ -72,5 +72,5 @@ static constexpr unsigned char LETHAL_OBSTACLE = 254;
 static constexpr unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
 static constexpr unsigned char MAX_NON_OBSTACLE = 252;
 static constexpr unsigned char FREE_SPACE = 0;
-}
+}  // namespace nav2_costmap_2d
 #endif  // NAV2_COSTMAP_2D__COST_VALUES_HPP_

nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp

@@ -21,6 +21,8 @@
 #include <array>
 #include <memory>
 #include <limits>
+#include <string>
+#include <utility>
 
 namespace nav2_costmap_2d
 {
@@ -77,7 +79,7 @@ void morphologyOperation(
   const Image<uint8_t> & input, Image<uint8_t> & output,
   const Image<uint8_t> & shape, AggregateFn aggregate);
 
-using ShapeBuffer3x3 = std::array<uint8_t, 9>;
+using ShapeBuffer3x3 = std::array<uint8_t, 9>;  // NOLINT
 inline Image<uint8_t> createShape(ShapeBuffer3x3 & buffer, ConnectivityType connectivity);
 } // namespace imgproc_impl
 
@@ -95,7 +97,7 @@ inline void dilate(
   const Image<uint8_t> & input, Image<uint8_t> & output,
   ConnectivityType connectivity, Max && max_function)
 {
-  using namespace imgproc_impl;
+  using namespace imgproc_impl;  // NOLINT
   ShapeBuffer3x3 shape_buffer;
   Image<uint8_t> shape = createShape(shape_buffer, connectivity);
   morphologyOperation(input, output, shape, max_function);
@@ -376,7 +378,7 @@ struct EquivalenceLabelTreesBase
 
 struct LabelOverflow : public std::runtime_error
 {
-  LabelOverflow(const std::string & message)
+  explicit LabelOverflow(const std::string & message)
   : std::runtime_error(message) {}
 };
 
@@ -464,7 +466,6 @@ class EquivalenceLabelTrees : public EquivalenceLabelTreesBase
   {
     Label k = 1;
     for (Label i = 1; i < next_free_; ++i) {
-
       if (labels_[i] < i) {
         labels_[i] = labels_[labels_[i]];
       } else {
@@ -504,7 +505,7 @@ class EquivalenceLabelTrees : public EquivalenceLabelTreesBase
        * '~' - row continuation in the same style */
       max_labels = (rows * columns) / 3 + 1;
     }
-    ++max_labels; // add zero label
+    ++max_labels;  // add zero label
     max_labels = std::min(max_labels, size_t(std::numeric_limits<Label>::max()));
     return max_labels;
   }
@@ -568,7 +569,7 @@ struct ProcessPixel<ConnectivityType::Way8>
   {
     Label & current = label.e();
 
-    //The decision tree traversal. See reference article for details
+    // The decision tree traversal. See reference article for details
     if (!is_bg(image.e())) {
       if (label.b()) {
         current = label.b();
@@ -760,17 +761,20 @@ void morphologyOperation(
     };
 
   // Apply the central shape row.
-  // This operation is applicable to all rows of the image, because at any position of the sliding window,
+  // This operation is applicable to all rows of the image,
+  // because at any position of the sliding window,
   // its central row is located on the image. So we start from the zero line of input and output
   probeRows(input, 0, output, 0, shape.row(1), set);
 
   if (input.rows() > 1) {
     // Apply the top shape row.
     // In the uppermost position of the sliding window, its first row is outside the image border.
-    // Therefore, we start filling the output image starting from the line 1 and will process input.rows() - 1 lines in total
+    // Therefore, we start filling the output image starting from the line 1 and will process
+    // input.rows() - 1 lines in total
     probeRows(input, 0, output, 1, shape.row(0), update);
     // Apply the bottom shape row.
-    // Similarly, the input image starting from the line 1 and will process input.rows() - 1 lines in total
+    // Similarly, the input image starting from the line 1 and will process
+    // input.rows() - 1 lines in total
     probeRows(input, 1, output, 0, shape.row(2), update);
   }
 }
@@ -812,8 +816,8 @@ Label connectedComponentsImpl(
   const Image<uint8_t> & image, Image<Label> & labels,
   imgproc_impl::EquivalenceLabelTrees<Label> & label_trees, const IsBg & is_background)
 {
-  using namespace imgproc_impl;
-  using PixelPass = ProcessPixel<connectivity>;
+  using namespace imgproc_impl;  // NOLINT
+  using PixelPass = ProcessPixel<connectivity>;  // NOLINT
 
   // scanning phase
   // scan row 0
@@ -1033,7 +1037,7 @@ std::pair<Image<Label>, Label> connectedComponents(
   const Image<uint8_t> & image, MemoryBuffer & buffer,
   imgproc_impl::EquivalenceLabelTrees<Label> & label_trees, const IsBg & is_background)
 {
-  using namespace imgproc_impl;
+  using namespace imgproc_impl;  // NOLINT
   const size_t pixels = image.rows() * image.columns();
 
   if (pixels == 0) {

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -144,7 +144,13 @@ nav2_util::CallbackReturn
 Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Configuring");
-  getParameters();
+  try {
+    getParameters();
+  } catch (const std::exception & e) {
+    RCLCPP_ERROR(
+      get_logger(), "Failed to configure costmap! %s.", e.what());
+    return nav2_util::CallbackReturn::FAILURE;
+  }
 
   callback_group_ = create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);

nav2_planner/src/planner_server.cpp

@@ -110,7 +110,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
         planner_ids_[i].c_str(), planner_types_[i].c_str());
       planner->configure(node, planner_ids_[i], tf_, costmap_ros_);
       planners_.insert({planner_ids_[i], planner});
-    } catch (const pluginlib::PluginlibException & ex) {
+    } catch (const std::exception & ex) {
       RCLCPP_FATAL(
         get_logger(), "Failed to create global planner. Exception: %s",
         ex.what());

nav2_smoother/src/nav2_smoother.cpp

@@ -142,7 +142,7 @@ bool SmootherServer::loadSmootherPlugins()
         node, smoother_ids_[i], tf_, costmap_sub_,
         footprint_sub_);
       smoothers_.insert({smoother_ids_[i], smoother});
-    } catch (const pluginlib::PluginlibException & ex) {
+    } catch (const std::exception & ex) {
       RCLCPP_FATAL(
         get_logger(), "Failed to create smoother. Exception: %s",
         ex.what());

nav2_util/include/nav2_util/node_utils.hpp

@@ -142,11 +142,11 @@ std::string get_plugin_type_param(
     if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
       RCLCPP_FATAL(
         node->get_logger(), "Can not get 'plugin' param value for %s", plugin_name.c_str());
-      exit(-1);
+      throw std::runtime_error("No 'plugin' param for param ns!");
     }
   } catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
     RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
-    exit(-1);
+    throw std::runtime_error("No 'plugin' param for param ns!");
   }
 
   return plugin_type;

nav2_util/test/test_node_utils.cpp

@@ -92,7 +92,7 @@ TEST(GetPluginTypeParam, GetPluginTypeParam)
   auto node = std::make_shared<rclcpp::Node>("test_node");
   node->declare_parameter("Foo.plugin", "bar");
   ASSERT_EQ(get_plugin_type_param(node, "Foo"), "bar");
-  ASSERT_EXIT(get_plugin_type_param(node, "Waldo"), ::testing::ExitedWithCode(255), ".*");
+  EXPECT_THROW(get_plugin_type_param(node, "Waldo"), std::runtime_error);
 }
 
 TEST(TestParamCopying, TestParamCopying)

nav2_waypoint_follower/src/waypoint_follower.cpp

@@ -120,10 +120,10 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/)
       get_logger(), "Created waypoint_task_executor : %s of type %s",
       waypoint_task_executor_id_.c_str(), waypoint_task_executor_type_.c_str());
     waypoint_task_executor_->initialize(node, waypoint_task_executor_id_);
-  } catch (const pluginlib::PluginlibException & ex) {
+  } catch (const std::exception & e) {
     RCLCPP_FATAL(
       get_logger(),
-      "Failed to create waypoint_task_executor. Exception: %s", ex.what());
+      "Failed to create waypoint_task_executor. Exception: %s", e.what());
   }
 
   return nav2_util::CallbackReturn::SUCCESS;