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kdl_parser
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fixed urdf compilation for older linux distros that do not have msktemps

This commit is contained in:
rdiankov 2010-12-06 14:19:24 +00:00
parent 7d260dc855
commit 2758eff268
2 changed files with 23 additions and 1 deletions
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6
urdf/CMakeLists.txt
View File

@ -21,6 +21,12 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
rosbuild_gensrv() rosbuild_gensrv()
# necessary for collada reader to create the temporary dae files due to limitations in the URDF geometry
check_function_exists(mkstemps HAVE_MKSTEMPS)
if( HAVE_MKSTEMPS )
add_definitions("-DHAVE_MKSTEMPS")
endif()
#common commands for building c++ executables and libraries #common commands for building c++ executables and libraries
rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp)
#target_link_libraries(${PROJECT_NAME} another_library) #target_link_libraries(${PROJECT_NAME} another_library)

18
urdf/src/collada_model_reader.cpp
View File

@ -39,6 +39,7 @@
#include <list> #include <list>
#include <map> #include <map>
#include <stdint.h> #include <stdint.h>
#include <cstdlib>
#include <cmath> #include <cmath>
#include <string> #include <string>
#include <sstream> #include <sstream>
@ -55,6 +56,11 @@
#include <boost/format.hpp> #include <boost/format.hpp>
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#ifndef HAVE_MKSTEMPS
#include <fstream>
#include <fcntl.h>
#endif
#define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) #define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++)
#define FOREACHC FOREACH #define FOREACHC FOREACH
@ -1110,9 +1116,19 @@ protected:
</scene>\n\ </scene>\n\
</COLLADA>")%name%name); </COLLADA>")%name%name);
//= str(boost::format("%s/models/%s.dae")%_resourcedir%name); #ifdef HAVE_MKSTEMPS
geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name);
int fd = mkstemps(&geometry->filename[0],4); int fd = mkstemps(&geometry->filename[0],4);
#else
do {
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( fd == -1 ) {
ROS_ERROR("failed to open geometry dae file %s",geometry->filename.c_str());
return geometry;
}
#endif
//ROS_INFO("temp file: %s",geometry->filename.c_str()); //ROS_INFO("temp file: %s",geometry->filename.c_str());
std::string daedatastr = daedata.str(); std::string daedatastr = daedata.str();
if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) { if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) {