-

modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp

@@ -124,7 +124,14 @@ void FollowerVehicle::sendPlatoonCreateRequest(VehicleId vehicleToRequest)
 {
     // We'll send a request indicating that we want to be the follower.
     log("Sending create request to: ", vehicleToRequest);
-    sendMessage(PlatoonMessage::followerRequest(myInfo.vehicleId, vehicleToRequest), 3s);
+    try
+    {
+        sendMessage(PlatoonMessage::followerRequest(myInfo.vehicleId, vehicleToRequest), 3s);
+    }
+    catch (const std::exception & e)
+    {
+        log("ERROR: ", e.what());
+    }
 }
 
 void FollowerVehicle::sendRejectResponse(const PlatoonMessage & request)

modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp

@@ -40,7 +40,16 @@ int main(int argc, char ** argv)
 
     follower->createPlatoon();
 
-    while (1);
+    while (1)
+    {
+        std::string input;
+        std::cin >> input;
+        if (input == "l")
+            break;
+    }
+
+    follower->leavePlatoon();
+    sleep(1);
 
     return 0;
 }
\ No newline at end of file