`scopedName` returns different values when called from `Configure` vs `PreUpdate` - Githubissues

gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.

https://gazebosim.org

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`scopedName` returns different values when called from `Configure` vs `PreUpdate` #1786

Open azeey opened 1 year ago

azeey commented 1 year ago

Environment

OS Version: Ubuntu 20.04
Source or binary build: source/binary gz-sim7

Description

Expected behavior: Calling scopedName should return the same value every time unless the Name component changes of the entities in the hierarchy.
Actual behavior: The world name is not included when called from Configure.

Steps to reproduce

In any system (eg. LiftDrag), call scopedName in Configure and any of the *Update functions and print the output

Output

For LiftDrag for example, running examples/worlds/lift_drag.sdf prints:

Configure name: model/lift_drag_demo_model
PreUpdate name: world/lift_drag/model/lift_drag_demo_model

azeey commented 1 year ago

I believe this is due to the fact that Configure is called before all entities have been created. It would be nice to change this, but it will be a change in behavior so should probably go into Harmonic.