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kdl_parser
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ignore joints with invalid limits

This commit is contained in:
Ioan Sucan 2013-04-12 13:00:45 +03:00
parent 2de97f0ee3
commit d0a7921b48
1 changed files with 7 additions and 4 deletions
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11
joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -49,10 +49,13 @@ class JointStatePublisher():
minval = -pi minval = -pi
maxval = pi maxval = pi
else: else:
limit = child.getElementsByTagName('limit')[0] try:
minval = float(limit.getAttribute('lower')) limit = child.getElementsByTagName('limit')[0]
maxval = float(limit.getAttribute('upper')) minval = float(limit.getAttribute('lower'))
maxval = float(limit.getAttribute('upper'))
except:
continue
safety_tags = child.getElementsByTagName('safety_controller') safety_tags = child.getElementsByTagName('safety_controller')
if use_small and len(safety_tags)==1: if use_small and len(safety_tags)==1:
tag = safety_tags[0] tag = safety_tags[0]