World: handle name collisions like Model

Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Steve Peters <[email protected]>
gazebosim · Aug 21, 2023 · 1c92d4f · 1c92d4f
1 parent 7f63d02
commit 1c92d4f
Showing 1 changed file with 27 additions and 13 deletions.
diff --git a/src/World.cc b/src/World.cc
@@ -283,21 +283,35 @@ Errors World::Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
     std::string frameName = frame.Name();
     if (frameNames.count(frameName) > 0)
     {
-      frameName += "_frame";
-      int i = 0;
-      while (frameNames.count(frameName) > 0)
+      // This frame has a name collision
+      if (sdfVersion < gz::math::SemanticVersion(1, 7))
       {
-        frameName = frame.Name() + "_frame" + std::to_string(i++);
+        // This came from an old file, so try to workaround by renaming frame
+        frameName += "_frame";
+        int i = 0;
+        while (frameNames.count(frameName) > 0)
+        {
+          frameName = frame.Name() + "_frame" + std::to_string(i++);
+        }
+        std::stringstream ss;
+        ss << "Frame with name [" << frame.Name() << "] "
+           << "in world with name [" << this->Name() << "] "
+           << "has a name collision, changing frame name to ["
+           << frameName << "].";
+        Error err(ErrorCode::WARNING, ss.str());
+        enforceConfigurablePolicyCondition(
+            _config.WarningsPolicy(), err, errors);
+
+        frame.SetName(frameName);
+      }
+      else
+      {
+        std::stringstream ss;
+        ss << "Frame with name [" << frame.Name() << "] "
+           << "in world with name [" << this->Name() << "] "
+           << "has a name collision. Please rename this frame.";
+        errors.push_back({ErrorCode::DUPLICATE_NAME, ss.str()});
       }
-      std::stringstream ss;
-      ss << "Frame with name [" << frame.Name() << "] "
-          << "in world with name [" << this->Name() << "] "
-          << "has a name collision, changing frame name to ["
-          << frameName << "].\n";
-      Error err(ErrorCode::WARNING, ss.str());
-      enforceConfigurablePolicyCondition(
-          _config.WarningsPolicy(), err, errors);
-      frame.SetName(frameName);
     }
     frameNames.insert(frameName);
   }