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robotology / gazebo-fmi

FMI import plugins for the Gazebo Simulator.
GNU Lesser General Public License v3.0
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Fix ComputeJointAcceleration utility function when used with joints attached to "world" #59

Closed traversaro closed 5 years ago

traversaro commented 5 years ago

In Gazebo, the "world" link is not a proper link, even if it can be used in SDF. For this reason, asking for the API to the "world" link results in a null value. Before this fix, the plugin that used the ComputeJointAcceleration function were crashing when attached to a joint attached to the world. With the provided fix, the correct acceleration for the world (zero) is used. Test have been added to make sure that the problem is actually fixed.

traversaro commented 5 years ago

I do not know why "Travis CI - Branch" build is never starting. However "Travis CI - Pull Request" is passing, so let's merge.