From 1c07fc2999c8752d4ff53d9c6edd1dfe2786389a Mon Sep 17 00:00:00 2001
From: rdiankov <devnull@localhost>
Date: Sun, 23 Jan 2011 23:09:17 +0000
Subject: [PATCH] colladadom now exporting the zlib dependency

---
 colladadom/manifest.xml           |  2 +-
 urdf/src/collada_model_reader.cpp | 20 +++++++++++++++-----
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml
index 94cf747..abc565c 100644
--- a/colladadom/manifest.xml
+++ b/colladadom/manifest.xml
@@ -19,7 +19,7 @@
   <rosdep name="unzip"/>
   <rosdep name="pcre"/>
   <export>
-    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada15dom -lminizip `rosboost-cfg --lflags system` `rosboost-cfg --lflags filesystem`" cflags="-I${prefix}/include -I${prefix}/include/1.5 `rosboost-cfg --cflags`"/>
+    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada15dom -lminizip -lz `rosboost-cfg --lflags system` `rosboost-cfg --lflags filesystem`" cflags="-I${prefix}/include -I${prefix}/include/1.5 `rosboost-cfg --cflags`"/>
     <cpp os="osx" lflags="-F${prefix}/lib -framework Collada15Dom" cflags="-I${prefix}/include -I${prefix}/include/1.5"/>
   </export>
   <platform os="ubuntu" version="9.04"/>
diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp
index 72f427d..678aee8 100644
--- a/urdf/src/collada_model_reader.cpp
+++ b/urdf/src/collada_model_reader.cpp
@@ -1000,8 +1000,12 @@ protected:
             }
         }
 
-        //pdomlink->getAttachment_start_array();
-        //pdomlink->getAttachment_end_array();
+        if( pdomlink->getAttachment_start_array().getCount() > 0 ) {
+            ROS_WARN("urdf collada reader does not support attachment_start\n");
+        }
+        if( pdomlink->getAttachment_end_array().getCount() > 0 ) {
+            ROS_WARN("urdf collada reader does not support attachment_end\n");
+        }
 
         plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties);
         return plink;
@@ -1120,10 +1124,16 @@ protected:
         geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name);
         int fd = mkstemps(&geometry->filename[0],4);
 #else
-        do {
+        int fd = -1;
+        for(int iter = 0; iter < 1000; ++iter) {
             geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_%d.dae")%name%rand());
-        } while(!!std::ifstream(geometry->filename.c_str()));
-        int fd = open(geometry->filename.c_str(),O_WRONLY|O_CREAT|O_EXCL);
+            if( !!std::ifstream(geometry->filename.c_str())) {
+                fd = open(geometry->filename.c_str(),O_WRONLY|O_CREAT|O_EXCL);
+                if( fd != -1 ) {
+                    break;
+                }
+            }
+        }
         if( fd == -1 ) {
             ROS_ERROR("failed to open geometry dae file %s",geometry->filename.c_str());
             return geometry;