bkinnightskytw
/
kdl_parser
mirror of https://github.com/existedinnettw/kdl_parser.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

better error message when no links are found in urdf file

This commit is contained in:
wim 2010-07-12 16:34:22 +00:00
parent dc22f63791
commit 1b30be26e6
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
urdf/src/model.cpp
View File

@ -212,6 +212,11 @@ bool Model::initXml(TiXmlElement *robot_xml)
return false; return false;
} }
} }
if (this->links_.empty()){
ROS_ERROR("No link elements found in urdf file");
return false;
}
// Get all Joint elements // Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{ {