From f11fc537bc12d1a0fdbc5886f5fde359c17ed852 Mon Sep 17 00:00:00 2001
From: wim <devnull@localhost>
Date: Wed, 7 Apr 2010 18:39:17 +0000
Subject: [PATCH] fix check for number of links in urdf

---
 robot_state_publisher/src/robot_state_publisher_node.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp
index ccff5ed..ad51100 100644
--- a/robot_state_publisher/src/robot_state_publisher_node.cpp
+++ b/robot_state_publisher/src/robot_state_publisher_node.cpp
@@ -71,15 +71,10 @@ int main(int argc, char** argv)
 
   if (tree.getNrOfSegments() == 0){
     ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf");
-    ros::spin();
-  }
-  else if (tree.getNrOfSegments() == 1){
-    ROS_WARN("Robot state publisher got a tree with only one segment and cannot publish any state to tf");
-    ros::spin();
   }
   else{
     JointStateListener state_publisher(tree);
-    ros::spin();
   }
+  ros::spin();
   return 0;
 }