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fix(map_loader): change error handling when pcd_metadata file not found #6227

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Jan 30, 2024
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fix(map_loader): change error handling when pcd_metadata file not found #6227

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5 changes: 3 additions & 2 deletions map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,8 +90,9 @@ std::map<std::string, PCDFileMetadata> PointCloudMapLoaderNode::getPCDMetadata(
{
std::map<std::string, PCDFileMetadata> pcd_metadata_dict;
if (pcd_paths.size() != 1) {
if (!fs::exists(pcd_metadata_path)) {
throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path);
while (!fs::exists(pcd_metadata_path)) {
RCLCPP_ERROR_STREAM(get_logger(), "PCD metadata file not found: " << pcd_metadata_path);
std::this_thread::sleep_for(std::chrono::seconds(1));
}

pcd_metadata_dict = loadPCDMetadata(pcd_metadata_path);
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