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kdl_parser
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Deprecate parsing of joints that are not attached to any links. This is not supported by the URDF spec, but the parser used to allow this. #4448

This commit is contained in:
wim 2010-06-22 19:18:08 +00:00
parent 95eba4fbf4
commit d99805a47c
1 changed files with 1 additions and 3 deletions
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4
urdf/src/model.cpp
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@ -263,7 +263,6 @@ bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
std::string child_link_name = joint->second->child_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()); 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()) if (parent_link_name.empty() && !child_link_name.empty())
{ {
ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str()); ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str());
@ -276,7 +275,7 @@ bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
} }
else if (parent_link_name.empty() && child_link_name.empty()) else if (parent_link_name.empty() && child_link_name.empty())
{ {
ROS_DEBUG(" Joint %s specifies no parent link and no child link. This is an abstract joint.",(joint->second)->name.c_str()); ROS_WARN(" Joint %s specifies no parent link and no child link. The Boxturtle urdf parser had a bug that allowed this type of joints, but this is not a valid joint according to the URDF spec.",(joint->second)->name.c_str());
} }
else else
{ {
@ -329,7 +328,6 @@ bool Model::initRoot(std::map<std::string, std::string> &parent_link_tree)
this->root_link_.reset(); this->root_link_.reset();
// for (std::map<std::string, std::string>::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++)
// find the links that have no parent in the tree // find the links that have no parent in the tree
for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++) for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)
{ {