Create resources if a world file contains any model

robotology-legacy · Sep 14, 2021 · 40324ae · 40324ae
1 parent 8c15353
commit 40324ae
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/scenario/src/gazebo/src/World.cpp b/scenario/src/gazebo/src/World.cpp
@@ -229,6 +229,15 @@ bool World::createECMResources()
            << "step=" << physics.MaxStepSize() << std::endl
            << "type=" << physics.EngineType() << std::endl;
 
+    // Create required model resources
+    sMessage << "Models:" << std::endl;
+    for (const auto& model : this->models()) {
+        if (!std::static_pointer_cast<Model>(model)->createECMResources()) {
+            sError << "Failed to initialize ECM model resources" << std::endl;
+            return false;
+        }
+    }
+
     return true;
 }