add custom exception and raise it in behavior

Author: ayin21

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py

@@ -1,6 +1,6 @@
 from typing import Literal, Optional, TypeAlias
 
-from bitbots_utils.utils import get_parameters_from_other_node
+from bitbots_utils.utils import RobotNotConfiguredError, get_parameters_from_other_node
 from rclpy.duration import Duration
 from std_msgs.msg import Bool
 
@@ -30,6 +30,14 @@ def __init__(self, node, blackboard):
             self._node, "parameter_blackboard", ["bot_id", "position_number"]
         )
 
+        if any(param_val is None for param_val in gamestate_settings.values()):
+            error_text = """
+The robot is not configured properly or the parameter_blackboard is not found.
+It is likely that the robot was not configured when you syncronised your clean code onto the robot.
+Run the deploy_robots script with the -c option to configure the robot and set parameters like the robot id and its role."""
+            self._node.get_logger().fatal(error_text)
+            raise RobotNotConfiguredError(error_text)
+
         self.position_number: int = gamestate_settings["position_number"]
         self.bot_id: int = gamestate_settings["bot_id"]
 

bitbots_misc/bitbots_utils/bitbots_utils/utils.py

@@ -16,6 +16,14 @@
 nobeartype = beartype(conf=BeartypeConf(strategy=BeartypeStrategy.O0))
 
 
+class RobotNotConfiguredError(Exception):
+    """Exception raised when the robot is not configured properly."""
+
+    def __init__(self, message):
+        self.message = message
+        super().__init__(message)
+
+
 def read_urdf(robot_name: str) -> str:
     urdf = os.popen(
         f"xacro {get_package_share_directory(f'{robot_name}_description')}"