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fix(controllers): safe interface map check #233

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Merged
domire8 merged 3 commits into from
Feb 27, 2026
Merged

fix(controllers): safe interface map check #233

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6bae4e0
fix(controllers): safe interface map check
domire8 Feb 27, 2026
1ee340e
docs: changelog
domire8 Feb 27, 2026
b9328c3
fix: newline
domire8 Feb 27, 2026
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,10 @@ Release Versions:
- [2.1.1](#211)
- [2.1.0](#210)

## Upcoming changes

- fix(controllers): safe interface map check (#233)

## 5.3.0

### January 13th, 2026
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7 changes: 5 additions & 2 deletions source/modulo_controllers/src/RobotControllerInterface.cpp
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Expand Up @@ -27,7 +27,7 @@ RobotControllerInterface::RobotControllerInterface(
new_joint_command_ready_(false),
command_decay_factor_(0.0),
command_rate_limit_(std::numeric_limits<double>::infinity()) {
if (!control_type.empty() && interface_map.find(control_type) == interface_map.cend()) {
if (!control_type.empty() && interface_map.count(control_type) == 0) {
RCLCPP_ERROR(get_node()->get_logger(), "Invalid control type: %s", control_type.c_str());
throw std::invalid_argument("Invalid control type: " + control_type);
}
Expand Down Expand Up @@ -233,6 +233,9 @@ controller_interface::return_type RobotControllerInterface::read_state_interface
joint.c_str(), interface.c_str());
return controller_interface::return_type::ERROR;
}
if (interface_map.count(interface) == 0) {
continue;
}
switch (interface_map.at(interface)) {
case JointStateVariable::POSITIONS:
joint_state_.set_position(value, joint_index);
Expand Down Expand Up @@ -387,7 +390,7 @@ void RobotControllerInterface::set_control_type(const std::string& control_type)
if (control_type_fixed_) {
throw std::runtime_error("Control type is fixed and cannot be changed anymore");
}
if (!control_type.empty() && interface_map.find(control_type) == interface_map.cend()) {
if (!control_type.empty() && interface_map.count(control_type) == 0) {
throw std::runtime_error("Invalid control type: " + control_type);
}
control_type_ = control_type;
Expand Down