Fix initialization of world components when enabling velocity checks #2777
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Signed-off-by: Gabriel Pacheco <[email protected]>
* Not all models of test/worlds/mesh_inertia_calculation.sdf are initialized with zero pose * Bug gazebosim#2774 was forcing all `link.WorldPose` to be zero after calling `link.EnableVelocityChecks` Signed-off-by: Gabriel Pacheco <[email protected]>
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Friendly ping :) @mjcarroll, @scpeters, @azeey. Could any of you guys take a quick look at this PR to see if I'm in the right track? |
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🦟 Bug fix
Fixes #2774
Summary
When using the link API to enable velocity checks for a link that does not yet have the world ECM components (
WorldPose,WorldLinearVelocity,WorldAngularVelocity), typically before the physics system plugin does its first update loop, such components will be initialized with their default constructor, zeroing values that might not be zero. One more evident example is the link world pose that could have already been initialized.gz-sim/src/Link_TEST.cccolcon build --packages-select gz-sim9./bin/UNIT_Link_TEST --gtest-filter=*EnableVelocityChecks*Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.