Merge pull request ros#11 from bchretien/master

Add initial error check when parsing URDF.
briansoe66 · Oct 22, 2013 · d87c78c · d87c78c
2 parents e0836e0 + c93adaf
commit d87c78c
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp
@@ -52,6 +52,13 @@ boost::shared_ptr<ModelInterface>  parseURDF(const std::string &xml_string)
 
   TiXmlDocument xml_doc;
   xml_doc.Parse(xml_string.c_str());
+  if (xml_doc.Error())
+  {
+    logError(xml_doc.ErrorDesc());
+    xml_doc.ClearError();
+    model.reset();
+    return model;
+  }
 
   TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot");
   if (!robot_xml)