laas/robot_model_py — pull request #1 by kphawkins (2012-07-05 22:29:39+00:00)
Title: Minor Additions and Bug Fixes

Hi Thomas,

I've been working on integrating my KDL parser with the URDF object here. I have fixed a bug which was causing the parsing to fail and have added two useful features. The bug originates from the fact that parsing takes the joint type directly from the type attribute which are strings like the ones I changed the enumerated constants to. Could you integrate these changes into the main branch?

Also, I'll be releasing my KDL parser + KDL wrappers soon and I'll announce to the ros-users list when it's ready.

Thanks,
Kelsey

Commit:
Changed Joint names to strings (was causing a bug), added get_root which detects the link which is top in the tree (URDF's should guarantee a unique root/tree structure), and added an option to get_chain which allows one to not include fixed joints in the chain.