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Fix getLinkModelNamesWithCollisionGeometry to include the base link #2660

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merged 3 commits into from
Jan 25, 2024
Merged

Fix getLinkModelNamesWithCollisionGeometry to include the base link #2660

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51c476b
Fix getLinkModelNamesWithCollisionGeometry to include the base link o…
MarqRazz Jan 24, 2024
3d1d0b1
pre-commit
MarqRazz Jan 24, 2024
bb6b86f
validate link has parent
MarqRazz Jan 24, 2024
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@MarqRazz
MarqRazz committed Jan 24, 2024
commit 3d1d0b15da3eb56ccae8dd2585cb648d4e66a325
4 changes: 2 additions & 2 deletions moveit_core/robot_model/src/joint_model_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,8 +230,8 @@ JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Mode
link_model_map_[link_model->getName()] = link_model;
link_model_name_vector_.push_back(link_model->getName());
// if this is the first link of the group with geometry (for example `base_link`) it should included
if(link_model_with_geometry_vector_.empty() && !link_model->getParentLinkModel()->getShapes().empty())
{
if (link_model_with_geometry_vector_.empty() && !link_model->getParentLinkModel()->getShapes().empty())
{
link_model_with_geometry_vector_.push_back(link_model->getParentLinkModel());
link_model_with_geometry_name_vector_.push_back(link_model->getParentLinkModel()->getName());
}
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