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kdl_parser
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colladadom now exporting the zlib dependency

This commit is contained in:
rdiankov 2011-01-23 23:09:17 +00:00
parent 990a25929f
commit 1c07fc2999
2 changed files with 16 additions and 6 deletions
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2
colladadom/manifest.xml
View File

@ -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"/>

20
urdf/src/collada_model_reader.cpp
View File

@ -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;