From bd8e5bec876bdd029a209642e057e4e75d3d2669 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 16 Jan 2024 16:06:09 +0100
Subject: [PATCH] Load the URDF to the resource_manager before parsing it to CM
 constructor (fixes https://github.com/ros-controls/ros2_control/issues/1299)

---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 23368e2a..7c5f4bc5 100644
--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -288,6 +288,13 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
     std::make_unique<hardware_interface::ResourceManager>();
 
+  try {
+    resource_manager_->load_urdf(urdf_string, false);
+  } catch (...) {
+    // This error should be normal as the resource manager is not supposed to load and initialize
+    // them
+    RCLCPP_ERROR(impl_->model_nh_->get_logger(), "Error intializing URDF to resource manager!");
+  }
   try {
     impl_->robot_hw_sim_loader_.reset(
       new pluginlib::ClassLoader<gazebo_ros2_control::GazeboSystemInterface>(