Fixes issue #2903 (#2907) (#2912)

This PR fixes issue #2903 and prevents the server from segfaulting if
the plugin fails to load correctly. It prints an error that the plugin
was misconfigured and continues executing ahead.


(cherry picked from commit 049c19e)

Signed-off-by: Arjo Chakravarty <[email protected]>
Co-authored-by: Arjo Chakravarty <[email protected]>

Author: mergify[bot]

src/systems/lift_drag/LiftDrag.cc

@@ -148,6 +148,12 @@ class gz::sim::systems::LiftDragPrivate
 void LiftDragPrivate::Load(const EntityComponentManager &_ecm,
                            const sdf::ElementPtr &_sdf)
 {
+  if (!this->model.Valid(_ecm))
+  {
+    gzerr << "The LiftDrag system should be attached to a model entity. "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
   this->cla = _sdf->Get<double>("cla", this->cla).first;
   this->cda = _sdf->Get<double>("cda", this->cda).first;
   this->cma = _sdf->Get<double>("cma", this->cma).first;
@@ -529,15 +535,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm)
 //////////////////////////////////////////////////
 void LiftDrag::Configure(const Entity &_entity,
                          const std::shared_ptr<const sdf::Element> &_sdf,
-                         EntityComponentManager &_ecm, EventManager &)
+                         EntityComponentManager &, EventManager &)
 {
   this->dataPtr->model = Model(_entity);
-  if (!this->dataPtr->model.Valid(_ecm))
-  {
-    gzerr << "The LiftDrag system should be attached to a model entity. "
-           << "Failed to initialize." << std::endl;
-    return;
-  }
   this->dataPtr->sdfConfig = _sdf->Clone();
 }