urdf reader segfault condition

Issue #57 resolved
Anonymous created an issue

It looks like if you have a robot that is just a single floating body(like maybe a quadcopter or a body with thrusters) the urdf reader segfaults. An example urdf would be,

<robot name="test_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="root_body">
    <inertial>
      <mass value="1"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
</robot>

It segfaults bc there are no child joints. Think this is the offending line,unsigned int joint_idx = joint_index_stack.top();

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