From 3e6294b7923abd1e105920c571f41ec091f8558d Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 29 Nov 2021 17:03:12 +0100 Subject: [PATCH] Update ForceTorque.cc --- plugins/forcetorque/src/ForceTorque.cc | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/plugins/forcetorque/src/ForceTorque.cc b/plugins/forcetorque/src/ForceTorque.cc index e52ca27a7..c94882da9 100644 --- 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