Log an error if JointPositionController cannot find the joint. (citad…

…el retarget) (#1314) In the event a user enters the wrong name for a certain joint, the JointPositionController system will silently fail. This PR adds a simple error message that tells the user that the joint was not found. Signed-off-by: Arjo Chakravarty <[email protected]>
gazebosim · Jan 28, 2022 · ebb3a9a · ebb3a9a
1 parent 749884d
commit ebb3a9a
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc
@@ -192,8 +192,17 @@ void JointPositionController::PreUpdate(
         this->dataPtr->model.JointByName(_ecm, this->dataPtr->jointName);
   }
 
+  // If the joint is still not found then warn the user, they may have entered
+  // the wrong joint name.
   if (this->dataPtr->jointEntity == kNullEntity)
+  {
+    static bool warned = false;
+    if(!warned)
+      ignerr << "Could not find joint with name ["
+        << this->dataPtr->jointName <<"]\n";
+    warned = true;
     return;
+  }
 
   // Nothing left to do if paused.
   if (_info.paused)