improve gazebo

cjds · cjds · commit d3b6b128cb8d · 2021-04-25T23:09:24.000-04:00
Signed-off-by: cjds &lt;cjds@live.com&gt;
diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc
@@ -98,6 +98,13 @@ void JointController::Configure(const Entity &_entity,
     return;
   }
 
+  gazebo::Entity jointEntity = this->dataPtr->model.JointByName(_ecm, this->dataPtr->jointName);
+  if (jointEntity == kNullEntity)
+  {
+    ignerr << "Joint with name[" << jointName << "] not found. "
+    << "The JointController will not control this joint.\n";
+  }
+
   if (_sdf->HasElement("initial_velocity"))
   {
     this->dataPtr->jointVelCmd = _sdf->Get<double>("initial_velocity");

Original file line number	Diff line number	Diff line change
`@@ -98,6 +98,13 @@ void JointController::Configure(const Entity &_entity,`
`98`	`98`	`return;`
`99`	`99`	`}`
`100`	`100`
	`101`	`+ gazebo::Entity jointEntity = this->dataPtr->model.JointByName(_ecm, this->dataPtr->jointName);`
	`102`	`+ if (jointEntity == kNullEntity)`
	`103`	`+ {`
	`104`	`+ ignerr << "Joint with name[" << jointName << "] not found. "`
	`105`	`+ << "The JointController will not control this joint.\n";`
	`106`	`+ }`
	`107`	`+`
`101`	`108`	`if (_sdf->HasElement("initial_velocity"))`
`102`	`109`	`{`
`103`	`110`	`this->dataPtr->jointVelCmd = _sdf->Get<double>("initial_velocity");`