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Load the URDF to the resource_manager before parsing it to CM #222

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merged 3 commits into from
Jan 24, 2024
Merged

Load the URDF to the resource_manager before parsing it to CM #222

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8612b02
Load the URDF to the resource_manager before parsing it to CM
saikishor Jan 22, 2024
13f75b7
Merge branch 'master' into fix_crash_for_missing_urdf_in_resource_man…
ahcorde Jan 24, 2024
870da97
Merge branch 'master' into fix_crash_for_missing_urdf_in_resource_man…
ahcorde Jan 24, 2024
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6 changes: 6 additions & 0 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -400,6 +400,12 @@ void GazeboSimROS2ControlPlugin::Configure(
std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
std::make_unique<hardware_interface::ResourceManager>();

try {
resource_manager_->load_urdf(urdf_string, false, false);
} catch (...) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Error initializing URDF to resource manager!");
}
try {
this->dataPtr->robot_hw_sim_loader_.reset(
new pluginlib::ClassLoader<gz_ros2_control::GazeboSimSystemInterface>(
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