Added an exception catch in the constructor.

src/darwin_robot.cpp

 #include "darwin_robot.h"
 #include "darwin_robot_exceptions.h"
+#include "dynamixelexceptions.h"
 #include <iostream>
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -82,23 +83,28 @@ CDarwinRobot::CDarwinRobot(const std::string &name,std::string &bus_id,int bus_s
     if(num_buses>0)
     {
       sleep(1);
-      this->robot_device=dyn_server->get_device(id,dyn_version2);
-      this->robot_id=id;
-      /* wait for the firmware to finish the scan */
-      do{
-        /* get the current manager status */
-        this->robot_device->read_byte_register(DARWIN_MM_CNTRL,&this->manager_status);
-        usleep(10000);
-      }while(this->manager_status&MANAGER_SCANNING);
-      /* get the number of servos detected */
-      this->robot_device->read_byte_register(DARWIN_MM_NUM_SERVOS,&this->manager_num_servos);
-      /* get the current action status */
-      this->robot_device->read_byte_register(DARWIN_ACTION_CNTRL,&this->action_status);
-      /* get the current smart charger status (detected or not)*/
-      this->robot_device->read_byte_register(DARWIN_SMART_CHARGER_CNTRL,&this->smart_charger_status);
-      this->min_limit_current=MIN_LIMIT_CURRENT;
-      this->max_limit_current=MAX_LIMIT_CURRENT;
-      
+      try{
+        this->robot_device=dyn_server->get_device(id,dyn_version2);
+        this->robot_id=id;
+        /* wait for the firmware to finish the scan */
+        do{
+          /* get the current manager status */
+          this->robot_device->read_byte_register(DARWIN_MM_CNTRL,&this->manager_status);
+          usleep(10000);
+        }while(this->manager_status&MANAGER_SCANNING);
+        /* get the number of servos detected */
+        this->robot_device->read_byte_register(DARWIN_MM_NUM_SERVOS,&this->manager_num_servos);
+        /* get the current action status */
+        this->robot_device->read_byte_register(DARWIN_ACTION_CNTRL,&this->action_status);
+        /* get the current smart charger status (detected or not)*/
+        this->robot_device->read_byte_register(DARWIN_SMART_CHARGER_CNTRL,&this->smart_charger_status);
+        this->min_limit_current=MIN_LIMIT_CURRENT;
+        this->max_limit_current=MAX_LIMIT_CURRENT;
+      }catch(CDynamixelServerException &e){
+        this->dyn_server->free_device(id);
+        std::cout << "exception" << std::endl;
+        throw e;
+      }
     }
     else
     {