ros::Exception

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最新推荐文章于 2025-07-07 18:01:39 发布

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分类专栏： ros C++

本文链接：https://blog.csdn.net/lxj362343/article/details/119460712

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ROS（Robot Operating System）的ros::Exception在ros/roscpp_core/cpp_common/include/ros/exception.h中定义，作为所有ROS抛出异常的基础类。这个类继承自std::runtime_error，用于在ROS系统中捕获和处理错误。源码定义包含了版权信息和使用许可条件，并提供了构造函数以初始化异常信息。

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在ros_comm中找了很久没有找到ros::Exception，原来ros::Exception是在另一个包roscpp_core中在 ros/roscpp_core/cpp_common/include/ros/exception.h中定义

定义如下：

/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSLIB_EXCEPTION_H
#define ROSLIB_EXCEPTION_H

#include <stdexcept>

namespace ros
{

/**
 * \brief Base class for all exceptions thrown by ROS
 */
class Exception : public std::runtime_error
{
public:
  Exception(const std::string& what)
  : std::runtime_error(what)
  {}
};

} // namespace ros

#endif

源码地址：

https://github.com/ros/roscpp_core/blob/noetic-devel/cpp_common/include/ros/exception.h

其他地址：

http://docs.ros.org/en/jade/api/cpp_common/html/classros_1_1Exception.html#a47b6cafac27d5bbe05e67977703da87d

http://docs.ros.org/en/jade/api/cpp_common/html/exception_8h_source.html