Address reviewer feedback

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Sep 9, 2020 · ca51a90 · ca51a90
1 parent 999537b
commit ca51a90
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
@@ -566,7 +566,7 @@ void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml)
 
 
 /////////////////////////////////////////////////
-std::list<ServerConfig::PluginInfo> Parse(tinyxml2::XMLDocument &_doc)
+std::list<ServerConfig::PluginInfo> Parse(const tinyxml2::XMLDocument &_doc)
 {
   auto ret =  std::list<ServerConfig::PluginInfo>();
   auto _elem = _doc.RootElement();

diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
@@ -880,7 +880,15 @@ void SimulationRunner::LoadServerPlugins(const ServerConfig &_config)
               << plugin.EntityType() << "]" << std::endl;
     }
 
-    this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf());
+    if (kNullEntity != entity)
+    {
+      this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf());
+    }
+    else
+    {
+      ignwarn << "Attempting to attach plugin [" << plugin.Name() <<
+        " to an unknown entity. Plugin won't be loaded" << std::endl;
+    }
   }
 }
 

diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh
@@ -187,6 +187,7 @@ namespace ignition
           const sdf::ElementPtr &_sdf);
 
       /// \brief Load server plugins for a given entity.
+      /// \param[in] _config Configuration to load plugins from.
       public: void LoadServerPlugins(const ServerConfig &_config);
 
       /// \brief Get whether this is running. When running is true,