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Harden behavior if a joint is not found in the model (backport #325) #333

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merged 2 commits into from
Jun 10, 2024
Merged

Harden behavior if a joint is not found in the model (backport #325) #333

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8bc6d7d
Harden behavior if a joint is not found in the model (#325)
christophfroehlich Jun 10, 2024
2a60b48
Merge branch 'jazzy' into mergify/bp/jazzy/pr-325
ahcorde Jun 10, 2024
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16 changes: 16 additions & 0 deletions gz_ros2_control/src/gz_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,6 +224,14 @@ bool GazeboSimSystem::initSim(
auto & joint_info = hardware_info.joints[j];
std::string joint_name = this->dataPtr->joints_[j].name = joint_info.name;

auto it_joint = enableJoints.find(joint_name);
if (it_joint == enableJoints.end()) {
RCLCPP_WARN_STREAM(
this->nh_->get_logger(), "Skipping joint in the URDF named '" << joint_name <<
"' which is not in the gazebo model.");
continue;
}

sim::Entity simjoint = enableJoints[joint_name];
this->dataPtr->joints_[j].sim_joint = simjoint;

Expand Down Expand Up @@ -501,6 +509,10 @@ hardware_interface::return_type GazeboSimSystem::read(
const rclcpp::Duration & /*period*/)
{
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) {
continue;
}

// Get the joint velocity
const auto * jointVelocity =
this->dataPtr->ecm->Component<sim::components::JointVelocity>(
Expand Down Expand Up @@ -593,6 +605,10 @@ hardware_interface::return_type GazeboSimSystem::write(
const rclcpp::Duration & /*period*/)
{
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) {
continue;
}

if (this->dataPtr->joints_[i].joint_control_method & VELOCITY) {
if (!this->dataPtr->ecm->Component<sim::components::JointVelocityCmd>(
this->dataPtr->joints_[i].sim_joint))
Expand Down