From 825eb0ef13af9d4f08c7dfd9947b033d26bfd0b8 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <saisastra3@gmail.com>
Date: Wed, 24 Jan 2024 10:29:50 +0100
Subject: [PATCH] Load the URDF to the resource_manager before parsing it to CM
 (#222)
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Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 5a948050563881dba20effec3ccb678e4f375529)
---
 gz_ros2_control/src/gz_ros2_control_plugin.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
index a97d859a..3ac18cae 100644
--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -393,6 +393,12 @@ void GazeboSimROS2ControlPlugin::Configure(
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
     std::make_unique<hardware_interface::ResourceManager>();
 
+  try {
+    resource_manager_->load_urdf(urdf_string, false, false);
+  } catch (...) {
+    RCLCPP_ERROR(
+      this->dataPtr->node_->get_logger(), "Error initializing URDF to resource manager!");
+  }
   try {
     this->dataPtr->robot_hw_sim_loader_.reset(
       new pluginlib::ClassLoader<gz_ros2_control::GazeboSimSystemInterface>(