Suppress missing canonical link error messages for static models (#1068)

Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Sep 29, 2021 · 4c35f6c · 4c35f6c
1 parent 064dacc
commit 4c35f6c
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
@@ -449,7 +449,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model,
              << canonicalLinkPair.second << "\n";
     }
   }
-  else
+  else if(!isStatic)
   {
     ignerr << "Could not resolve the canonical link for " << _model->Name()
            << "\n";

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -2308,7 +2308,9 @@ void PhysicsPrivate::UpdateModelPose(const Entity _model,
       _ecm.Component<components::ModelCanonicalLink>(nestedModel);
     if (!nestedModelCanonicalLinkComp)
     {
-      ignerr << "Model [" << nestedModel << "] has no canonical link\n";
+      auto staticComp = _ecm.Component<components::Static>(nestedModel);
+      if (!staticComp || !staticComp->Data())
+        ignerr << "Model [" << nestedModel << "] has no canonical link\n";
       continue;
     }