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Fix segfault in the Breadcrumbs system #180

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merged 3 commits into from
Jun 5, 2020
Merged

Fix segfault in the Breadcrumbs system #180

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c480f00
Fix segfault in the Breadcrumbs system
azeey Jun 4, 2020
f0e5d6a
Update changelog
azeey Jun 5, 2020
2de8d49
Merge branch 'ign-gazebo2' into fix_breadcrumb_segfault
azeey Jun 5, 2020
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10 changes: 5 additions & 5 deletions src/systems/breadcrumbs/Breadcrumbs.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,8 @@ void Breadcrumbs::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
}

std::set<Entity> processedEntities;
for (const auto &e : this->pendingGeometryUpdate) {
for (const auto &e : this->pendingGeometryUpdate)
{
Entity perf = _ecm.EntityByComponents(components::Performer(),
components::ParentEntity(e));
if (perf == kNullEntity)
Expand Down Expand Up @@ -282,16 +283,15 @@ void Breadcrumbs::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
auto td = _info.simTime - it->second;
if (td > this->disablePhysicsTime)
{
auto nameComp = _ecm.Component<components::Name>(it->first);
auto name = _ecm.Component<components::Name>(it->first)->Data();
if (!this->MakeStatic(it->first, _ecm))
{
ignerr << "Failed to make breadcrumb '" << nameComp->Data()
ignerr << "Failed to make breadcrumb '" << name
<< "' static." << std::endl;
}
else
{
ignmsg << "Breadcrumb '" << nameComp->Data()
<< "' is now static." << std::endl;
ignmsg << "Breadcrumb '" << name << "' is now static." << std::endl;
}
this->autoStaticEntities.erase(it++);
}
Expand Down