From 9ac73acff67fb59f4c391710535dd888359c5f91 Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 27 Aug 2013 17:38:47 +0900
Subject: [PATCH] fix for using collada_parser_plugin

---
 collada_parser/package.xml | 4 ++++
 urdf/src/model.cpp         | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/collada_parser/package.xml b/collada_parser/package.xml
index f781d1f..12b2f8c 100644
--- a/collada_parser/package.xml
+++ b/collada_parser/package.xml
@@ -31,5 +31,9 @@
   <run_depend>urdf_parser_plugin</run_depend>
   <run_depend>class_loader</run_depend>
 
+  <export>
+    <urdf_parser_plugin plugin="${prefix}/collada_parser_plugin_description.xml"/>
+  </export>
+
 </package>
 
diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
index ff980de..7a6d4ff 100644
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@@ -153,7 +153,7 @@ bool Model::initString(const std::string& xml_string)
       const std::vector<std::string> &classes = PARSER_PLUGIN_LOADER->getDeclaredClasses();
       bool found = false;
       for (std::size_t i = 0 ; i < classes.size() ; ++i)
-	if (classes[i].find("collada") != std::string::npos)
+	if (classes[i].find("urdf/ColladaURDFParser") != std::string::npos)
 	{
 	  boost::shared_ptr<urdf::URDFParser> instance = PARSER_PLUGIN_LOADER->createInstance(classes[i]);
 	  if (instance)