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Add entity validation to OdometryPublisher #2326

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merged 4 commits into from
Mar 1, 2024
Merged

Add entity validation to OdometryPublisher #2326

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89a9a54
add entity validation to OdometryPublisher system
Bogdanov-am Mar 1, 2024
83c05c7
copy solution from JointPositionController
Bogdanov-am Mar 1, 2024
9d535de
delete invalid
Bogdanov-am Mar 1, 2024
50a9b4e
one check enough
Bogdanov-am Mar 1, 2024
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8 changes: 8 additions & 0 deletions src/systems/odometry_publisher/OdometryPublisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -278,6 +278,10 @@
{
GZ_PROFILE("OdometryPublisher::PreUpdate");

if (!this->dataPtr->model.Valid(_ecm)) {
return;

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}

// \TODO(anyone) Support rewind
if (_info.dt < std::chrono::steady_clock::duration::zero())
{
Expand Down Expand Up @@ -305,6 +309,10 @@
if (_info.paused)
return;

if (!this->dataPtr->model.Valid(_ecm)) {
return;

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}

this->dataPtr->UpdateOdometry(_info, _ecm);
}

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