support empty srdf string

alaurenzi · alaurenzi · commit 680b1c7cea44 · 2025-03-03T17:44:53.000+01:00
diff --git a/src/robotinterface2.cpp b/src/robotinterface2.cpp
@@ -83,7 +83,11 @@ RobotInterface::UniquePtr RobotInterface::getRobot(std::string urdf_string,
 {
     XBotInterface::ConfigOptions opt;
     opt.set_urdf(urdf_string);
-    opt.set_srdf(srdf_string);
+
+    if(!srdf_string.empty())
+    {
+        opt.set_srdf(srdf_string);
+    }
 
     return getRobot(opt.urdf, opt.srdf, robot_type, model_type);
 }

Original file line number	Diff line number	Diff line change
`@@ -83,7 +83,11 @@ RobotInterface::UniquePtr RobotInterface::getRobot(std::string urdf_string,`
`83`	`83`	`{`
`84`	`84`	`XBotInterface::ConfigOptions opt;`
`85`	`85`	`opt.set_urdf(urdf_string);`
`86`		`- opt.set_srdf(srdf_string);`
	`86`	`+`
	`87`	`+ if(!srdf_string.empty())`
	`88`	`+ {`
	`89`	`+ opt.set_srdf(srdf_string);`
	`90`	`+ }`
`87`	`91`
`88`	`92`	`return getRobot(opt.urdf, opt.srdf, robot_type, model_type);`
`89`	`93`	`}`