Update ForceTorque.cc

robotology · Nov 29, 2021 · 3e6294b · 3e6294b
1 parent 33d8c1e
commit 3e6294b
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/plugins/forcetorque/src/ForceTorque.cc b/plugins/forcetorque/src/ForceTorque.cc
@@ -82,7 +82,7 @@ void GazeboYarpForceTorque::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     driver_properties.put(YarpForceTorqueScopedName.c_str(), m_sensorName.c_str());
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    bool disable_wrapper = driver_properties.check("disableImplicitNetworkWrapperServer");
+    bool disable_wrapper = driver_properties.check("disableImplicitNetworkWrapper");
     if (!disable_wrapper) {
         //Open the wrapper
         //Force the wrapper to be of type "analogServer" (it make sense? probably no)
@@ -92,6 +92,11 @@ void GazeboYarpForceTorque::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
             return;
         }
     }
+    if (disable_wrapper && !driver_properties.check("yarpDeviceName"))
+    {
+        yError() << "GazeboYarpForceTorque : missing yarpDeviceName parameter for device" << m_sensorName;
+        return;
+    }
     #endif // GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
 
     //Open the driver