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Allow removal of model that has joint_position_controller plugin. #2252

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merged 2 commits into from
Nov 22, 2023
Merged

Allow removal of model that has joint_position_controller plugin. #2252

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a89796c
Temporary fix for gazebosim/gz-sim#2165 until gazebosim/gz-sim#2217 i…
jrutgeer Nov 21, 2023
6597899
Added comment to clarify the added code.
jrutgeer Nov 21, 2023
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15 changes: 15 additions & 0 deletions src/systems/joint_position_controller/JointPositionController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -320,6 +320,21 @@
{
GZ_PROFILE("JointPositionController::PreUpdate");

// \TODO(anyone) This is a temporary fix for
// gazebosim/gz-sim#2165 until gazebosim/gz-sim#2217 is resolved.
if (kNullEntity == this->dataPtr->model.Entity())
{
return;

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}

if (!this->dataPtr->model.Valid(_ecm))
{
gzwarn << "JointPositionController model no longer valid. "
<< "Disabling plugin." << std::endl;
this->dataPtr->model = Model(kNullEntity);
return;

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}

// \TODO(anyone) Support rewind
if (_info.dt < std::chrono::steady_clock::duration::zero())
{
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