Merge pull request #399 from lrapetti/patch-2

Revert #394 in VideoTexture plugin
robotology · Nov 17, 2018 · 5ed5bf8 · 5ed5bf8
2 parents 7a07b3f + b70b1b4
commit 5ed5bf8
Showing 1 changed file with 14 additions and 2 deletions.
diff --git a/plugins/videotexture/src/VideoTexture.cc b/plugins/videotexture/src/VideoTexture.cc
@@ -78,13 +78,25 @@ namespace gazebo
        return;
     }
 
-    // Getting .ini configuration file parameters from sdf
+    //Getting .ini configuration file from sdf
+    bool configuration_loaded = false;
+
     if(!sdf->HasElement("yarpConfigurationFile") && sdf->HasElement("sdf"))
     {
         sdf = sdf->GetElement("sdf");
     }
 
-    bool configuration_loaded = GazeboYarpPlugins::loadConfigModelPlugin(parent, sdf, m_parameters);
+    if (sdf->HasElement("yarpConfigurationFile"))
+    {
+        std::string ini_file_name = sdf->Get<std::string>("yarpConfigurationFile");
+        std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
+
+        if (ini_file_path != "" && m_parameters.fromConfigFile(ini_file_path.c_str()))
+        {
+            //yInfo() << "Found yarpConfigurationFile: loading from " << ini_file_path ;
+            configuration_loaded = true;
+        }
+     }
 
     if (!configuration_loaded)
     {