From c68ba90629d9c64311f6fdd520c6fe88d9b16fdb Mon Sep 17 00:00:00 2001
From: Dyst-0 <69257845+Dyst-0@users.noreply.github.com>
Date: Sat, 22 Feb 2025 01:45:19 +0000
Subject: [PATCH] Update LogicalCamera plugin to detect nested models (#2788)

Signed-off-by: Dyst-0 <69257845+Dyst-0@users.noreply.github.com>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 036515f970b9a81b724d09f9588af5d79b435a1e)
---
 src/systems/logical_camera/LogicalCamera.cc | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/src/systems/logical_camera/LogicalCamera.cc b/src/systems/logical_camera/LogicalCamera.cc
index ded8c9c36f..1ba2904163 100644
--- a/src/systems/logical_camera/LogicalCamera.cc
+++ b/src/systems/logical_camera/LogicalCamera.cc
@@ -255,18 +255,14 @@ void LogicalCameraPrivate::UpdateLogicalCameras(
   GZ_PROFILE("LogicalCameraPrivate::UpdateLogicalCameras");
   std::map<std::string, math::Pose3d> modelPoses;
 
-  _ecm.Each<components::Model, components::Name, components::Pose>(
-      [&](const Entity &,
-        const components::Model *,
-        const components::Name *_name,
-        const components::Pose *_pose)->bool
-      {
-        /// todo(anyone) We currently assume there are only top level models
-        /// Update to retrieve world pose when nested models are supported.
-        modelPoses[_name->Data()] = _pose->Data();
-        return true;
-      });
-
+  _ecm.Each<components::Model, components::Name>(
+    [&](const Entity &_entity,
+      const components::Model *,
+      const components::Name *_name)->bool
+    {
+      modelPoses[_name->Data()] = worldPose(_entity, _ecm);
+      return true;
+    });
 
   _ecm.Each<components::LogicalCamera, components::WorldPose>(
     [&](const Entity &_entity,