Make sure steering joints exist before updating velocity / odometry i…

…n AckermannSteering plugin (#2521) Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Aug 12, 2024 · c48fa58 · c48fa58
1 parent 523b01b
commit c48fa58
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -677,6 +677,11 @@ void AckermannSteering::PostUpdate(const UpdateInfo &_info,
   // Nothing left to do if paused.
   if (_info.paused)
     return;
+
+  if (this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+    return;
+
   if (this->dataPtr->steeringOnly)
   {
     this->dataPtr->UpdateAngle(_info, _ecm);