Do not update sensors if it a triggered sensor (gazebosim#2443)

Signed-off-by: Ian Chen <[email protected]>
rudislabs · Jun 14, 2024 · 2297be7 · 2297be7
1 parent f024ea8
commit 2297be7
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -136,7 +136,7 @@ set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-sensors
-gz_find_package(gz-sensors8 REQUIRED
+gz_find_package(gz-sensors8 REQUIRED VERSION 8.2.0
   # component order is important
   COMPONENTS
     # non-rendering

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -1034,6 +1034,11 @@ std::chrono::steady_clock::duration SensorsPrivate::NextUpdateTime(
       continue;
     }
 
+    if (rs->IsTriggered())
+    {
+      continue;
+    }
+
     std::chrono::steady_clock::duration time;
     // if sensor's next update tims is less or equal to current sim time then
     // it's in the process of being updated by the render loop