fix: skip user sensors in sensor plugin initialization

ubi-agni · Jan 18, 2024 · e7321b8 · e7321b8
1 parent ba0e777
commit e7321b8
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp b/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp
@@ -441,7 +441,10 @@ void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
 		int site_id   = model->sensor_objid[n];
 		int parent_id = model->site_bodyid[site_id];
 		int type      = model->sensor_type[n];
-
+		if (type == mjSENS_USER) {
+			ROS_INFO_STREAM_NAMED("sensors", "Skipping USER sensor");
+			continue;
+		}
 		site = mj_id2name(const_cast<mjModel *>(model), model->sensor_objtype[n], site_id);
 
 		if (model->names[model->name_sensoradr[n]]) {