From b1a5c9b54e4895de419f5c87b6574563355415f2 Mon Sep 17 00:00:00 2001
From: cjds <cjds@live.com>
Date: Sun, 25 Apr 2021 23:01:29 -0400
Subject: [PATCH] improve gazebo

---
 src/systems/joint_controller/JointController.cc | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc
index 64762df6433..4b13f1af555 100644
--- a/src/systems/joint_controller/JointController.cc
+++ b/src/systems/joint_controller/JointController.cc
@@ -98,6 +98,13 @@ void JointController::Configure(const Entity &_entity,
     return;
   }
 
+  gazebo::Entity jointEntity = this->dataPtr->model.JointByName(_ecm, this->dataPtr->jointName);
+  if (jointEntity == kNullEntity)
+  {
+    ignerr << "Joint with name[" << jointName << "] not found. "
+    << "The JointController will not control this joint.\n";
+  }
+
   if (_sdf->HasElement("initial_velocity"))
   {
     this->dataPtr->jointVelCmd = _sdf->Get<double>("initial_velocity");