[Personalrobots-commit] SF.net SVN: personalrobots:[8164] pkg/trunk

[<hsu...@us...>]

Revision: 8164
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8164&view=rev
Author:   hsujohnhsu
Date:     2008-12-16 09:40:54 +0000 (Tue, 16 Dec 2008)

Log Message:
-----------
bug fix, maps in joint are not passed to gazebo (e.g. mimicKp).

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cc
    pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cc	2008-12-16 09:08:23 UTC (rev 8163)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cc	2008-12-16 09:40:54 UTC (rev 8164)
@@ -351,6 +351,9 @@
 
             }
             
+            /* copy gazebo data */
+            copyGazeboMap(link->joint->data, joint);
+
             /* add joint to document */
             root->LinkEndChild(joint);
         }

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2008-12-16 09:08:23 UTC (rev 8163)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2008-12-16 09:40:54 UTC (rev 8164)
@@ -344,6 +344,9 @@
                     addKeyValue(joint,"mimicOffset", values2str(1, &(link->joint->fMimicOffset)     ));
 
             }
+
+            /* copy gazebo data */
+            copyGazeboMap(link->joint->data, joint);
             
             /* add joint to document */
             root->LinkEndChild(joint);


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