From f492cfe4e1486f70e394c785be890b430da29655 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 13 Sep 2016 22:56:25 +0200 Subject: [PATCH] fix segfault: safely handle empty robot model (#154) --- kdl_parser/src/kdl_parser.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index 7031247..9777320 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -189,6 +189,9 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree) bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, Tree& tree) { + if (!robot_model.getRoot()) + return false; + tree = Tree(robot_model.getRoot()->name); // warn if root link has inertia. KDL does not support this