Just don't spin the executor if the sim is paused

ros-controls · Oct 1, 2024 · a86fc05 · a86fc05
1 parent 98130ac
commit a86fc05
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -395,7 +395,9 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
   auto spin = [this]()
     {
       while (rclcpp::ok() && !impl_->stop_) {
-        impl_->executor_->spin_once();
+        if (impl_->parent_model_->GetWorld()->IsPaused() == false) {
+          impl_->executor_->spin_once();
+        }
       }
     };
   impl_->thread_executor_spin_ = std::thread(spin);