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kdl_parser
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add warning when root link has inertia, because KDL does not support root link with inertia

This commit is contained in:
Wim Meeussen 2011-11-04 09:19:14 -07:00
parent 2d331a60ff
commit f7735d9607
1 changed files with 4 additions and 0 deletions
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4
kdl_parser/src/kdl_parser.cpp
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@ -168,6 +168,10 @@ bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree)
{ {
tree = Tree(robot_model.getRoot()->name); tree = Tree(robot_model.getRoot()->name);
// warn if root link has inertia. KDL does not support this
if (robot_model.getRoot()->inertial)
ROS_WARN("The root link %s has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.", robot_model.getRoot()->name.c_str());
// add all children // add all children
for (size_t i=0; i<robot_model.getRoot()->child_links.size(); i++) for (size_t i=0; i<robot_model.getRoot()->child_links.size(); i++)
if (!addChildrenToTree(robot_model.getRoot()->child_links[i], tree)) if (!addChildrenToTree(robot_model.getRoot()->child_links[i], tree))