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Added workaround to disable plugin on model removal. #1

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merged 1 commit into from
Oct 25, 2023
Merged

Added workaround to disable plugin on model removal. #1

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8 changes: 8 additions & 0 deletions system__waste_bin/src/WasteBin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,14 @@ void WasteBin::PostUpdate(const UpdateInfo & _info,
if (_info.paused) return;
if (!this->dataPtr->configured) return;

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 no longer valid.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

// This conceptually rather belongs to the Configure() step, but in the Configure() step
// the ContactSensorData components are not yet created.
if (!this->dataPtr->collisionsInitialized)
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