Add handle_exceptions parameter to controller manager

[saikishor]

No description provided.

[codecov]

Codecov Report

❌ Patch coverage is 68.55346% with 50 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.48%. Comparing base (23337e5) to head (54f1967).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	37.50%	25 Missing ⚠️
controller_manager/src/controller_manager.cpp	17.64%	14 Missing ⚠️
...ontroller_manager/test/test_controller_manager.cpp	88.76%	10 Missing ⚠️
...er_manager/test/controller_manager_test_common.hpp	75.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2807      +/-   ##
==========================================
- Coverage   89.64%   89.48%   -0.17%     
==========================================
  Files         152      152              
  Lines       17815    17960     +145     
  Branches     1455     1464       +9     
==========================================
+ Hits        15971    16072     +101     
- Misses       1260     1301      +41     
- Partials      584      587       +3     

Flag	Coverage Δ
unittests	89.48% <68.55%> (-0.17%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...r_manager/test/test_controller/test_controller.cpp	87.80% <100.00%> (+0.79%)	⬆️
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
...est_controller_manager_hardware_error_handling.cpp	100.00% <100.00%> (ø)
...ager/test/test_controller_manager_urdf_passing.cpp	100.00% <100.00%> (ø)
...t_controllers_chaining_with_controller_manager.cpp	99.25% <100.00%> (ø)
...rdware_interface/types/resource_manager_params.hpp	100.00% <ø> (ø)
...er_manager/test/controller_manager_test_common.hpp	88.15% <75.00%> (-0.89%)	⬇️
...ontroller_manager/test/test_controller_manager.cpp	95.74% <88.76%> (-0.49%)	⬇️
controller_manager/src/controller_manager.cpp	76.93% <17.64%> (-0.11%)	⬇️
hardware_interface/src/resource_manager.cpp	78.12% <37.50%> (-1.71%)	⬇️

... and 3 files with indirect coverage changes

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[destogl]

What is the main idea behind this? We are adding handling of failure on HW exception. But I don't know why we should do this just per-default? I agree that should never crash but not like this, instead by making sure we manage the all cases.

[saikishor]

What is the main idea behind this? We are adding handling of failure on HW exception. But I don't know why we should do this just per-default? I agree that should never crash but not like this, instead by making sure we manage the all cases.

Recently, we are coming across the raised exceptions from third party libraries etc and the problem is if they don't have a proper exception message it is very hard to debug. By crashing, it prints the stack trace and with this we can find the issue easily.

For instance, we have been having an issue last couple of weeks and we spent lot of time on it and today just removing the exception catching and making it to crash with the stack trace it print, we were able to pin point the issue in less than 5 min. If this kind of issue happens in future, it is better to launch it with this parameter and you could find the issue right away. It is more for the debugging purposes.

[christophfroehlich]

This is great. Let's just add a description in the debugging section to the docs.

[christophfroehlich]

Shouldn't we also update the parameter section of the controller_manager, and maybe the release notes?

[saikishor]

Shouldn't we also update the parameter section of the controller_manager

Isn't this autogenerated by GPL?

[christophfroehlich]

oh, sure, you are right.

[bmagyar]

Thank you! Let's move forward with this flag & also start thinking about how to go the exact opposite way by catching more exceptions and allowing less "half and catch fire" moments (guarded by the flag, obviously)