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kdl_parser
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urdf parser should not check if mesh files exist

This commit is contained in:
Wim Meeussen 2011-12-15 09:38:02 -08:00
parent 1fd9899077
commit c0a9b692ed
1 changed files with 0 additions and 37 deletions
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37
urdf_parser/src/link.cpp
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@ -397,39 +397,6 @@ bool Cylinder::initXml(TiXmlElement *c)
return true; return true;
} }
bool Mesh::fileExists(std::string filename)
{
std::string fullname = filename;
if (fullname.find("package://") == 0)
{
fullname.erase(0, strlen("package://"));
size_t pos = fullname.find("/");
if (pos == std::string::npos)
{
ROS_FATAL("Could not parse package:// format for [%s]",filename.c_str());
}
std::string package = fullname.substr(0, pos);
fullname.erase(0, pos);
std::string package_path = ros::package::getPath(package);
if (package_path.empty())
{
ROS_FATAL("%s Package[%s] does not exist",filename.c_str(),package.c_str());
return false;
}
fullname = package_path + fullname;
}
std::ifstream fin; fin.open(fullname.c_str(), std::ios::in); fin.close();
if (fin.fail()) {
ROS_FATAL("Mesh [%s] does not exist",filename.c_str());
return false;
}
return true;
}
bool Mesh::initXml(TiXmlElement *c) bool Mesh::initXml(TiXmlElement *c)
{ {
@ -444,10 +411,6 @@ bool Mesh::initXml(TiXmlElement *c)
filename = c->Attribute("filename"); filename = c->Attribute("filename");
// check if filename exists, is this really necessary?
if (!fileExists(filename))
ROS_WARN("filename referred by mesh [%s] does not appear to exist.",filename.c_str());
if (c->Attribute("scale")) if (c->Attribute("scale"))
{ {
if (!this->scale.init(c->Attribute("scale"))) if (!this->scale.init(c->Attribute("scale")))