prevent crash when viewing heightmap collision (#2097)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Aug 28, 2023 · b46feef · b46feef
1 parent 6cb6e87
commit b46feef
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
@@ -1498,6 +1498,13 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::CreateCollisionVisual(
   if (!_visual.Geom())
     return rendering::VisualPtr();
 
+  if (_visual.Geom()->Type() == sdf::GeometryType::HEIGHTMAP)
+  {
+    gzwarn << "Collision visualization for heightmaps are not supported yet."
+           << std::endl;
+    return rendering::VisualPtr();
+  }
+
   std::string name = _visual.Name().empty() ? std::to_string(_id) :
       _visual.Name();
   if (_parent)