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Fix use of yarpConfigurationString parameter in gazebo_yarp_worldinterface plugin #609

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Feb 25, 2022
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Fix use of yarpConfigurationString parameter in gazebo_yarp_worldinterface plugin #609

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8139e1b
Update worldinterface.cpp
traversaro Feb 24, 2022
6e02b62
Update CHANGELOG.md
traversaro Feb 24, 2022
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -10,6 +10,7 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo

### Fixed
- Removed `getLastInputStamp` method from `LaserSensorDriver` class in `gazebo_yarp_lasersensor`. Furthermore, fix bug in `gazebo_yarp_lasersensor`, by adding the update to the variable `m_timestamp` inherited from `yarp::dev::Lidar2DDeviceBase` (https://github.com/robotology/gazebo-yarp-plugins/pull/604).
- Fix use of yarpConfigurationString parameter in `gazebo_yarp_worldinterface` plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/609).

## [4.1.2] - 2022-01-19

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14 changes: 2 additions & 12 deletions plugins/worldinterface/src/worldinterface.cpp
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Expand Up @@ -12,6 +12,7 @@
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <GazeboYarpPlugins/common.h>
#include <GazeboYarpPlugins/ConfHelpers.hh>

using namespace gazebo;
using namespace std;
Expand Down Expand Up @@ -54,18 +55,7 @@ void WorldInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
//pass reference to server
m_wi_server.attachWorldProxy(&m_proxy);

//Getting .ini configuration file from sdf
bool configuration_loaded = false;

if (_sdf->HasElement("yarpConfigurationFile")) {
std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);

if (ini_file_path != "" && m_parameters.fromConfigFile(ini_file_path.c_str())) {
yInfo() << "Found yarpConfigurationFile: loading from " << ini_file_path ;
configuration_loaded = true;
}
}
bool configuration_loaded = GazeboYarpPlugins::loadConfigModelPlugin(_model, _sdf, m_parameters);

if (!configuration_loaded) {
yError() << "WorldInterface::Load error could not load configuration file";
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