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Fix trajectory follower: enable WorldPose component #1382

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merged 1 commit into from
Mar 10, 2022
Merged

Fix trajectory follower: enable WorldPose component #1382

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7 changes: 7 additions & 0 deletions src/systems/trajectory_follower/TrajectoryFollower.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -324,6 +324,7 @@ void TrajectoryFollower::PreUpdate(
// We call Load here instead of Configure because we can't be guaranteed
// that all entities have been created when Configure is called
this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig);
enableComponent<components::WorldPose>(_ecm, this->dataPtr->link.Entity());
this->dataPtr->initialized = true;
}

Expand Down Expand Up @@ -379,6 +380,12 @@ void TrajectoryFollower::PreUpdate(

// Transform from world to local frame.
auto comPose = this->dataPtr->link.WorldInertialPose(_ecm);
if (!comPose.has_value())
{
ignerr << "Failed to get CoM pose for link ["
<< this->dataPtr->link.Entity() << "]" << std::endl;
return;
}

// Transform the force and torque to the world frame.
// Move commands. The vehicle always move forward (X direction).
Expand Down