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Revert behavior change introduced in #2452 #2527

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merged 2 commits into from
Aug 20, 2024
Merged

Revert behavior change introduced in #2452 #2527

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b96f8af
Revert behavior change introduced in #2452
azeey Aug 16, 2024
7d96623
Load world plugins first
azeey Aug 17, 2024
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24 changes: 10 additions & 14 deletions src/SdfEntityCreator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -328,6 +328,14 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
components::SphericalCoordinates(*_world->SphericalCoordinates()));
}

this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(_worldEntity,
_world->Plugins());

GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
this->dataPtr->eventManager->Emit<events::LoadPlugins>(_worldEntity,
_world->ToElement());
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

// Models
for (uint64_t modelIndex = 0; modelIndex < _world->ModelCount();
++modelIndex)
Expand All @@ -337,7 +345,7 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
levelEntityNames.find(model->Name()) != levelEntityNames.end())

{
Entity modelEntity = this->CreateEntities(model, false);
Entity modelEntity = this->CreateEntities(model);

this->SetParent(modelEntity, _worldEntity);
}
Expand Down Expand Up @@ -387,7 +395,7 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
if (_world->ModelNameExists(_ref->Data()))
{
const sdf::Model *model = _world->ModelByName(_ref->Data());
Entity modelEntity = this->CreateEntities(model, false);
Entity modelEntity = this->CreateEntities(model);
this->SetParent(modelEntity, _worldEntity);
this->SetParent(_entity, modelEntity);
}
Expand Down Expand Up @@ -449,18 +457,6 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
// Store the world's SDF DOM to be used when saving the world to file
this->dataPtr->ecm->CreateComponent(
_worldEntity, components::WorldSdf(*_world));

// Load world plugins first.
this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(_worldEntity,
_world->Plugins());

GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
this->dataPtr->eventManager->Emit<events::LoadPlugins>(_worldEntity,
_world->ToElement());
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

// Load model plugins after the world plugin.
this->LoadModelPlugins();
}

//////////////////////////////////////////////////
Expand Down
4 changes: 2 additions & 2 deletions src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -405,7 +405,7 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource(
};

// create services for this source
const auto validName = topicFromScopedName(entity, _ecm, true);
const auto validName = topicFromScopedName(entity, _ecm, false);
if (validName.empty())
{
gzerr << "Failed to create valid topics with entity scoped name ["
Expand Down Expand Up @@ -503,7 +503,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone(

// create the detection publisher for this microphone
auto pub = this->node.Advertise<msgs::Double>(
topicFromScopedName(entity, _ecm, true) + "/detection");
topicFromScopedName(entity, _ecm, false) + "/detection");
if (!pub)
{
gzerr << "Error creating a detection publisher for microphone "
Expand Down
2 changes: 1 addition & 1 deletion src/systems/pose_publisher/PosePublisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@ void PosePublisher::Configure(const Entity &_entity,
this->dataPtr->usePoseV =
_sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first;

std::string poseTopic = topicFromScopedName(_entity, _ecm, true) + "/pose";
std::string poseTopic = topicFromScopedName(_entity, _ecm, false) + "/pose";
if (poseTopic.empty())
{
poseTopic = "/pose";
Expand Down
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