diff --git a/collada_parser/CMakeLists.txt b/collada_parser/CMakeLists.txt index 4813860..d4df99a 100644 --- a/collada_parser/CMakeLists.txt +++ b/collada_parser/CMakeLists.txt @@ -33,7 +33,7 @@ if( HAVE_MKSTEMPS ) endif() #common commands for building c++ executables and libraries -rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp src/hack.cpp) +rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp) rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}") rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}") diff --git a/collada_parser/src/collada_parser.cpp b/collada_parser/src/collada_parser.cpp index 5352ee3..6cd6df4 100644 --- a/collada_parser/src/collada_parser.cpp +++ b/collada_parser/src/collada_parser.cpp @@ -500,13 +500,23 @@ protected: { std::map parent_link_tree; // building tree: name mapping - if (!_model->initTree(parent_link_tree)) { - ROS_ERROR("failed to build tree"); + try + { + _model->initTree(parent_link_tree); + } + catch(ParseError &e) + { + ROS_ERROR("Failed to build tree: %s", e.what()); } // find the root link - if (!_model->initRoot(parent_link_tree)) { - ROS_ERROR("failed to find root link"); + try + { + _model->initRoot(parent_link_tree); + } + catch(ParseError &e) + { + ROS_ERROR("Failed to find root link: %s", e.what()); } } diff --git a/collada_parser/src/hack.cpp b/collada_parser/src/hack.cpp deleted file mode 100644 index d6c413f..0000000 --- a/collada_parser/src/hack.cpp +++ /dev/null @@ -1,134 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: John Hsu */ - - -#include -#include -#include -#include -#include -#include - -namespace urdf{ - -bool ModelInterface::initTree(std::map &parent_link_tree) -{ - // loop through all joints, for every link, assign children links and children joints - for (std::map >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) - { - std::string parent_link_name = joint->second->parent_link_name; - std::string child_link_name = joint->second->child_link_name; - - ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - if (parent_link_name.empty() || child_link_name.empty()) - { - ROS_ERROR(" Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str()); - return false; - } - else - { - // find child and parent links - boost::shared_ptr child_link, parent_link; - this->getLink(child_link_name, child_link); - if (!child_link) - { - ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() ); - return false; - } - this->getLink(parent_link_name, parent_link); - if (!parent_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 \"\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() ); - return false; - } - - //set parent link for child link - child_link->setParent(parent_link); - - //set parent joint for child link - child_link->setParentJoint(joint->second); - - //set child joint for parent link - parent_link->addChildJoint(joint->second); - - //set child link for parent link - parent_link->addChild(child_link); - - // fill in child/parent string map - parent_link_tree[child_link->name] = parent_link_name; - - ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size()); - } - } - - return true; -}; - -bool ModelInterface::initRoot(std::map &parent_link_tree) -{ - this->root_link_.reset(); - - // find the links that have no parent in the tree - for (std::map >::iterator l=this->links_.begin(); l!=this->links_.end(); l++) - { - std::map::iterator parent = parent_link_tree.find(l->first); - if (parent == parent_link_tree.end()) - { - // store root link - if (!this->root_link_) - { - getLink(l->first, this->root_link_); - } - // we already found a root link - else{ - ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str()); - return false; - } - } - } - if (!this->root_link_) - { - ROS_ERROR("No root link found. The robot xml is not a valid tree."); - return false; - } - ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); - - return true; -}; - -} - - diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 6b22af7..14eede2 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -21,7 +21,13 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_gensrv() +find_package(PkgConfig REQUIRED) +pkg_check_modules(urdfdom REQUIRED urdfdom) +include_directories(${urdfdom_INCLUDE_DIRS}) +link_directories(${urdfdom_LIBRARY_DIRS}) + rosbuild_add_library(${PROJECT_NAME} src/model.cpp) +target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES}) if(APPLE) set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")