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fix segfault: safely handle empty robot model (#154)

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Robert Haschke 2016-09-13 22:56:25 +02:00 committed by Jackie Kay
parent b87e6976df
commit f492cfe4e1
1 changed files with 3 additions and 0 deletions
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3
kdl_parser/src/kdl_parser.cpp
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@ -189,6 +189,9 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree)
bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, Tree& tree) bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, Tree& tree)
{ {
if (!robot_model.getRoot())
return false;
tree = Tree(robot_model.getRoot()->name); tree = Tree(robot_model.getRoot()->name);
// warn if root link has inertia. KDL does not support this // warn if root link has inertia. KDL does not support this