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kdl_parser
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fix for using collada_parser_plugin

This commit is contained in:
YoheiKakiuchi 2013-08-27 17:38:47 +09:00
parent 0bdfef0985
commit 9ac73acff6
2 changed files with 5 additions and 1 deletions
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4
collada_parser/package.xml
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@ -31,5 +31,9 @@
<run_depend>urdf_parser_plugin</run_depend> <run_depend>urdf_parser_plugin</run_depend>
<run_depend>class_loader</run_depend> <run_depend>class_loader</run_depend>
<export>
<urdf_parser_plugin plugin="${prefix}/collada_parser_plugin_description.xml"/>
</export>
</package> </package>

2
urdf/src/model.cpp
View File

@ -153,7 +153,7 @@ bool Model::initString(const std::string& xml_string)
const std::vector<std::string> &classes = PARSER_PLUGIN_LOADER->getDeclaredClasses(); const std::vector<std::string> &classes = PARSER_PLUGIN_LOADER->getDeclaredClasses();
bool found = false; bool found = false;
for (std::size_t i = 0 ; i < classes.size() ; ++i) 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]); boost::shared_ptr<urdf::URDFParser> instance = PARSER_PLUGIN_LOADER->createInstance(classes[i]);
if (instance) if (instance)