improve gazebo

Signed-off-by: cjds <[email protected]>
gazebosim · Apr 26, 2021 · d3b6b12 · d3b6b12
1 parent 51befb4
commit d3b6b12
Showing 1 changed file with 7 additions and 0 deletions.
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");