Fix issue that causes segfault when joint has not been populated yet.

Signed-off-by: Arjo Chakravarty <[email protected]>
osrf · Nov 2, 2021 · 5eddba7 · 5eddba7
1 parent ed39cb8
commit 5eddba7
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/lrauv_ignition_plugins/src/JointPositionPlugin.cc b/lrauv_ignition_plugins/src/JointPositionPlugin.cc
@@ -146,6 +146,13 @@ void TethysJointPlugin::PreUpdate(
     return;
 
   auto currentPos = jointPosComp->Data();
+  if (currentPos.size() == 0)
+  {
+    ignerr << "Joint ["
+      << this->dataPtr->jointName
+      << "] unable to get position" <<std::endl;
+    return;
+  }
 
   // Get command position
   double cmdPos;