Load the URDF to the resource_manager before parsing it to CM (ros-co…

…ntrols#262) (ros-controls#267) * Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71) Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
pixel-robotics · Jan 23, 2024 · 1ce397c · 1ce397c
1 parent 07ceffd
commit 1ce397c
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -275,6 +275,13 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
     std::make_unique<hardware_interface::ResourceManager>();
 
+  try {
+    resource_manager_->load_urdf(urdf_string, false, false);
+  } catch (...) {
+    // This error should be normal as the resource manager is not supposed to load and initialize
+    // them
+    RCLCPP_ERROR(impl_->model_nh_->get_logger(), "Error initializing URDF to resource manager!");
+  }
   try {
     impl_->robot_hw_sim_loader_.reset(
       new pluginlib::ClassLoader<gazebo_ros2_control::GazeboSystemInterface>(