Fix buoyancy not being applied for one iteration #1211
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Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1211 +/- ##
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Coverage 61.92% 61.92%
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Files 275 275
Lines 22457 22457
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Hits 13906 13906
Misses 8551 8551
Continue to review full report at Codecov.
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| { | ||
| // Skip entity if WorldPose and inertial are not yet ready | ||
| // TODO(arjo): Find a way of disabling gravity effects for | ||
| // this first iteration. |
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I think we may be able to avoid this skip if we use gazebo::worldPose instead of the WorldPose component. That function should provide the world pose straight away.
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Hmm, but we need to use link::WorldInertialPose...
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Ahh I see, maybe the implementation of that method can be improved 🤔
chapulina
changed the title
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Ouch, we should have squash-merged this. No need to go back and fix it, but something to keep in mind for next time. |
Signed-off-by: Arjo Chakravarty arjo@openrobotics.org
🦟 Bug fix
Workaround #1210
Summary
This PR currently is a work around, Essentially, it skips the check introduced in #1064 for the uniform buoyancy. This is fine as #1064 is not really position dependent. We should however leave #1210 open as no fix has been applied for layered buoyancy.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge