Enable inherited model topic name. (#1689)

Allows for inheriting model name for robotNamespace when SDF element is not set and provides a debug message showing the topics it subscribes to. Signed-off-by: Benjamin Perseghetti <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Sep 22, 2022 · 6b48eea · 6b48eea
1 parent 721bc35
commit 6b48eea
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
@@ -6,6 +6,7 @@
  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
  * Copyright 2016 Geoffrey Hunter <[email protected]>
  * Copyright (C) 2019 Open Source Robotics Foundation
+ * Copyright (C) 2022 Benjamin Perseghetti, Rudis Laboratories
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -49,6 +50,7 @@
 #include "ignition/gazebo/components/Wind.hh"
 #include "ignition/gazebo/Link.hh"
 #include "ignition/gazebo/Model.hh"
+#include "ignition/gazebo/Util.hh"
 
 // from rotors_gazebo_plugins/include/rotors_gazebo_plugins/common.h
 /// \brief This class can be used to apply a first order filter on a signal.
@@ -250,7 +252,8 @@ void MulticopterMotorModel::Configure(const Entity &_entity,
  }
  else
  {
- ignerr << "Please specify a robotNamespace.\n";
+ ignwarn << "No robotNamespace set using entity name.\n";
+ this->dataPtr->robotNamespace = this->dataPtr->model.Name(_ecm);
  }
 
  // Get params from SDF
@@ -365,6 +368,10 @@ void MulticopterMotorModel::Configure(const Entity &_entity,
  << "]" << std::endl;
  return;
  }
+ else
+ {
+ igndbg << "Listening to topic: " << topic << std::endl;
+ }
  this->dataPtr->node.Subscribe(topic,
  &MulticopterMotorModelPrivate::OnActuatorMsg, this->dataPtr.get());
 }