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kdl_parser
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Fix bug that allowed parent links of a joint to be automatically added, #4198

This commit is contained in:
wim 2010-06-22 19:37:26 +00:00
parent d99805a47c
commit 6c67fc7b04
2 changed files with 3218 additions and 3295 deletions
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9
urdf/src/model.cpp
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@ -290,13 +290,8 @@ bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
this->getLink(parent_link_name, parent_link); this->getLink(parent_link_name, parent_link);
if (!parent_link) if (!parent_link)
{ {
ROS_DEBUG(" parent link '%s' of joint '%s' not found. Automatically adding it. This must be the root link", ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"<link name=\"%s\" />\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() );
parent_link_name.c_str(), joint->first.c_str() ); return false;
parent_link.reset(new Link);
parent_link->name = parent_link_name;
this->links_.insert(make_pair(parent_link->name, parent_link));
ROS_DEBUG(" successfully added new link '%s'", parent_link->name.c_str());
} }
//set parent link for child link //set parent link for child link

2940
urdf/test/pr2_desc.urdf
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