fix some logic regarding how to find the processor by name

src/publisher_vision.cpp

@@ -71,7 +71,7 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
         img_transport_(ros::NodeHandle())
 {
     // if user do not provide processor's name, first processor of type PublisherVisionDebug is taken
-    auto processor_name  = getParamWithDefault<std::string>(_server, prefix_ + "/processor_name", "");
+    auto processor_name                   = getParamWithDefault<std::string>(_server, prefix_ + "/processor_name", "");
 
     show_tracks_ID_                       = getParamWithDefault<bool>(_server, prefix_ + "/show_tracks_ID", false);
     show_landmarks_ID_                    = getParamWithDefault<bool>(_server, prefix_ + "/show_landmarks_ID", false);
@@ -90,21 +90,32 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
 
 
     // search the processor
+    if (processor_name == "")
+        throw std::runtime_error(
+                "PublisherVisionDebug: name of processor of type ProcessorVisualOdometry not provided");
+
     for (auto sen : _problem->getHardware()->getSensorList())
     {
         for (auto proc : sen->getProcessorList())
         {
-            processor_vision_ = std::dynamic_pointer_cast<ProcessorVisualOdometry>(proc);
-            if (processor_vision_ and (proc->getName() == processor_name or processor_name == ""))
-                break;
+            if (proc->getName() == processor_name)
+            {
+                processor_vision_ = std::dynamic_pointer_cast<ProcessorVisualOdometry>(proc);
+                if (processor_vision_)
+                    break; //
+                else
+                {
+                    throw std::runtime_error(
+                            "PublisherVisionDebug: processor " + processor_name + " is not of type ProcessorVisualOdometry");
+                    break;
+                }
+            }
         }
-        if (processor_vision_)
-            break;
     }
 
     if (not processor_vision_)
         throw std::runtime_error(
-                "PublisherVisionDebug processor of type ProcessorVisualOdometry with the provided name was not found.");
+                "PublisherVisionDebug: processor " + processor_name + " not found.");
 }
 
 void PublisherVisionDebug::initialize(ros::NodeHandle &nh, const std::string &topic)