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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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24 changes: 24 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 +278,21 @@ void OdometryPublisher::PreUpdate(const gz::sim::UpdateInfo &_info,
{
GZ_PROFILE("OdometryPublisher::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;
}

if (!this->dataPtr->model.Valid(_ecm))
{
gzwarn << "OdometryPublisher model no longer valid.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())
{
Expand All @@ -301,6 +316,15 @@ void OdometryPublisher::PostUpdate(const UpdateInfo &_info,
const EntityComponentManager &_ecm)
{
GZ_PROFILE("OdometryPublisher::PostUpdate");

// \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;
}


// Nothing left to do if paused.
if (_info.paused)
return;
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