Merge pull request #2078 from azeey/3_to_6

Merge ign-gazebo3 ➡️ ign-gazebo6
gazebosim · Aug 16, 2023 · f686dc0 · f686dc0
2 parents 7713f2b + b79c9bc
commit f686dc0
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Showing 3 changed files with 16 additions and 8 deletions.
diff --git a/include/gz/sim/Server.hh b/include/gz/sim/Server.hh
@@ -80,13 +80,15 @@ namespace ignition
     ///
     /// List syntax: *service_name(request_msg_type) : response_msg_type*
     ///
-    ///   1. `/world/<world_name>/scene/info(none)` : gz::msgs::Scene
+    ///   1. `/world/<world_name>/scene/info`(none) : gz::msgs::Scene
     ///     + Returns the current scene information.
     ///
-    ///   2. `/gazebo/resource_paths/get` : gz::msgs::StringMsg_V
+    ///   2. `/gazebo/resource_paths/get`(gz::msgs::Empty) :
+    ///         gz::msgs::StringMsg_V
     ///     + Get list of resource paths.
     ///
-    ///   3. `/gazebo/resource_paths/add` : gz::msgs::Empty
+    ///   3. `/gazebo/resource_paths/add`(gz::msgs::StringMsg_V) :
+    ///         gz::msgs::Empty
     ///     + Add new resource paths.
     ///
     ///   4. `/server_control`(gz::msgs::ServerControl) :

diff --git a/src/TestFixture.cc b/src/TestFixture.cc
@@ -210,6 +210,13 @@ TestFixture &TestFixture::OnPostUpdate(std::function<void(
 //////////////////////////////////////////////////
 std::shared_ptr<Server> TestFixture::Server() const
 {
+  if (!this->dataPtr->finalized)
+  {
+    ignwarn << "Fixture has not been finalized, any functions you attempted"
+      << "to hook into will not be run. It is recommended to call Finalize()"
+      << "before accessing the server."
+      << std::endl;
+  }
   return this->dataPtr->server;
 }
 
diff --git a/src/systems/apply_link_wrench/ApplyLinkWrench.cc b/src/systems/apply_link_wrench/ApplyLinkWrench.cc
@@ -148,8 +148,7 @@ void ApplyLinkWrench::Configure(const Entity &_entity,
   this->dataPtr->verbose = _sdf->Get<bool>("verbose", true).first;
 
   // Initial wrenches
-  auto ptr = const_cast<sdf::Element *>(_sdf.get());
-  for (auto elem = ptr->GetElement("persistent");
+  for (auto elem = _sdf->FindElement("persistent");
        elem != nullptr;
        elem = elem->GetNextElement("persistent"))
   {
@@ -163,7 +162,7 @@ void ApplyLinkWrench::Configure(const Entity &_entity,
 
     msg.mutable_entity()->set_name(elem->Get<std::string>("entity_name"));
 
-    auto typeStr = elem->GetElement("entity_type")->Get<std::string>();
+    auto typeStr = elem->FindElement("entity_type")->Get<std::string>();
     if (typeStr == "link")
     {
       msg.mutable_entity()->set_type(msgs::Entity::LINK);
@@ -182,12 +181,12 @@ void ApplyLinkWrench::Configure(const Entity &_entity,
     if (elem->HasElement("force"))
     {
       msgs::Set(msg.mutable_wrench()->mutable_force(),
-          elem->GetElement("force")->Get<math::Vector3d>());
+          elem->FindElement("force")->Get<math::Vector3d>());
     }
     if (elem->HasElement("torque"))
     {
       msgs::Set(msg.mutable_wrench()->mutable_torque(),
-          elem->GetElement("torque")->Get<math::Vector3d>());
+          elem->FindElement("torque")->Get<math::Vector3d>());
     }
     this->dataPtr->OnWrenchPersistent(msg);
   }