Merge pull request #24 from isucan/master

parse visual and collision names
ros · Feb 16, 2014 · d9e745c · d9e745c
2 parents 1a843b5 + f0f9bcc
commit d9e745c
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
@@ -362,6 +362,10 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
   if (!vis.geometry)
     return false;
 
+  const char *name_char = config->Attribute("name");
+  if (name_char)
+    vis.name = name_char;
+
   // Material
   TiXmlElement *mat = config->FirstChildElement("material");
   if (mat) {
@@ -405,6 +409,10 @@ bool parseCollision(Collision &col, TiXmlElement* config)
   if (!col.geometry)
     return false;
 
+  const char *name_char = config->Attribute("name");
+  if (name_char)
+    col.name = name_char;
+
   col.group_name = std::string("default");
   const char *group_name_char = config->Attribute("group");
   if (group_name_char)