fixup forcetorque

robotology · Dec 4, 2021 · 82902c5 · 82902c5
1 parent 9071db9
commit 82902c5
Showing 1 changed file with 12 additions and 8 deletions.
diff --git a/plugins/forcetorque/src/ForceTorque.cc b/plugins/forcetorque/src/ForceTorque.cc
@@ -123,16 +123,20 @@ void GazeboYarpForceTorque::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
         if( !m_iWrap->attachAll(driver_list) ) {
             yError() << "GazeboYarpForceTorque : error in connecting wrapper and device ";
         }
-    }
-
-    if(!driver_properties.check("yarpDeviceName"))
-    {
-        scopedDeviceName = m_sensorName + "::" + driver_list[0]->key;
-    }
-    else
-    {
+
+        if(!driver_properties.check("yarpDeviceName"))
+        {
+            scopedDeviceName = m_sensorName + "::" + driver_list[0]->key;
+        }
+        else
+        {
+            scopedDeviceName = m_sensorName + "::" + driver_properties.find("yarpDeviceName").asString();
+        }
+    } else {
         scopedDeviceName = m_sensorName + "::" + driver_properties.find("yarpDeviceName").asString();
     }
+
+
     #else
     if(!driver_properties.check("yarpDeviceName"))
     {