From 630409165b319dff17881655ba1cf380d72d41e8 Mon Sep 17 00:00:00 2001 From: Wim Meeussen Date: Thu, 5 Jan 2012 10:43:53 -0800 Subject: [PATCH] deprecate floating and planar joints. #4000 --- urdf_parser/src/joint.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp index 200649e..207fb6b 100644 --- a/urdf_parser/src/joint.cpp +++ b/urdf_parser/src/joint.cpp @@ -436,9 +436,15 @@ bool Joint::initXml(TiXmlElement* config) } std::string type_str = type_char; if (type_str == "planar") + { type = PLANAR; + ROS_WARN("Planar joints are deprecated in the URDF!\n"); + } else if (type_str == "floating") + { type = FLOATING; + ROS_WARN("Floating joints are deprecated in the URDF!\n"); + } else if (type_str == "revolute") type = REVOLUTE; else if (type_str == "continuous")