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kdl_parser
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Give better error message when no links were found

This commit is contained in:
wim 2009-11-19 18:12:08 +00:00
parent b5936c14af
commit c1ff68a28e
1 changed files with 7 additions and 1 deletions
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8
urdf/src/model.cpp
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@ -232,6 +232,12 @@ bool Model::initXml(TiXmlElement *robot_xml)
return false; return false;
} }
// make sure tree is not empty
if (parent_link_tree.empty()){
ROS_ERROR("The robot xml does not contain any valid links. Are you parsing an empty file, or an un-processed xacro file?");
return false;
}
// find the root link // find the root link
if (!this->initRoot(parent_link_tree)) if (!this->initRoot(parent_link_tree))
{ {
@ -352,7 +358,7 @@ bool Model::initRoot(std::map<std::string, std::string> &parent_link_tree)
} }
if (!this->root_link_) if (!this->root_link_)
{ {
ROS_ERROR("No root link found. The robot xml is empty or not a tree."); ROS_ERROR("No root link found. The robot xml is not a valid tree.");
return false; return false;
} }
ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());