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kdl_parser
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search for parameter in initParam

This commit is contained in:
wim 2010-06-24 19:17:27 +00:00
parent 4232496f32
commit 598019400c
1 changed files with 13 additions and 4 deletions
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11
urdf/src/model.cpp
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@ -70,10 +70,19 @@ bool Model::initParam(const std::string& param)
{ {
ros::NodeHandle nh; ros::NodeHandle nh;
std::string xml_string; std::string xml_string;
if (!nh.getParam(param, xml_string)){
// gets the location of the robot description on the parameter server
std::string full_param;
if (!nh.searchParam(param, full_param)){
ROS_ERROR("Could not find parameter %s on parameter server", param.c_str()); ROS_ERROR("Could not find parameter %s on parameter server", param.c_str());
return false; return false;
} }
// read the robot description from the parameter server
if (!nh.getParam(full_param, xml_string)){
ROS_ERROR("Could read parameter %s on parameter server", full_param.c_str());
return false;
}
return initString(xml_string); return initString(xml_string);
} }