From 6d739e417e45bb87c7cadd8366a1ddc6f233a5ec Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Tue, 20 Dec 2016 15:48:58 +0100
Subject: [PATCH] robot_model->njoints has the kinematic tree
---
src/ros_joint_state.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/ros_joint_state.cpp b/src/ros_joint_state.cpp
index 1ff7087..f359910 100644
--- a/src/ros_joint_state.cpp
+++ b/src/ros_joint_state.cpp
@@ -38,7 +38,7 @@ namespace dynamicgraph
namespace {
void buildJointNames (sensor_msgs::JointState& jointState, se3::Model* robot_model) {
int cnt = 0;
- for (int i=1;i<robot_model->nbodies;i++) {
+ for (int i=1;i<robot_model->njoints;i++) {
// Ignore anchors.
if (se3::nv(robot_model->joints[i]) != 0) {
// If we only have one dof, the dof name is the joint name.
@@ -86,7 +86,7 @@ namespace dynamicgraph
}
se3::Model* robot_model = dynamic->m_model;
- if (robot_model->nbodies == 1)
+ if (robot_model->njoints == 1)
{
std::cerr << "no robot in the dynamic entity" << std::endl;
return Value ();
--
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