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[lcm] Hotfix for "Eschew LCM C++ API" #20137

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merged 1 commit into from
Sep 6, 2023
Merged

[lcm] Hotfix for "Eschew LCM C++ API" #20137

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5 changes: 4 additions & 1 deletion lcm/drake_lcm.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,10 @@ class DrakeLcm::Impl {
// Create the native instance only after all other checks are finished.
lcm_ = ::lcm_create(lcm_url_.c_str());
if (lcm_ == nullptr) {
throw std::runtime_error("Failure on lcm_create()");
// The initialization failed and printed a console warning. Create
// a dummy object instead (to at least have something non-null).
lcm_ = ::lcm_create("memq://");
DRAKE_THROW_UNLESS(lcm_ != nullptr);
}
}

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6 changes: 6 additions & 0 deletions lcm/test/drake_lcm_test.cc
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Expand Up @@ -77,6 +77,12 @@ TEST_F(DrakeLcmTest, CustomUrlTest) {
EXPECT_EQ(dut_->get_lcm_url(), kUdpmUrl);
}

TEST_F(DrakeLcmTest, BadUrlTest) {
// At the moment, invalid URLs print to the console but do not throw.
// We probably want to revisit this as some point (to fail-fast).
EXPECT_NO_THROW(DrakeLcm("no-such-scheme://foo"));
}

TEST_F(DrakeLcmTest, DeferThreadTest) {
DrakeLcmParams params;
params.lcm_url = kUdpmUrl;
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