BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

fixed a bug that occurred when parsing the robot file with empty bulk read item.

Browse Source
This commit is contained in:
Kayman 2019-11-28 14:29:00 +09:00
parent bd03350cc8
commit d67d6c2ee8
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
robotis_device/src/robotis_device/robot.cpp
View File

@ -132,7 +132,7 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
Dynamixel *dxl = dxls_[dev_name];
std::vector<std::string> sub_tokens = split(tokens[6], ',');
if (sub_tokens.size() > 0)
if (sub_tokens.size() > 0 && sub_tokens[0] != ""))
{
std::map<std::string, ControlTableItem *>::iterator indirect_it = dxl->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_it != dxl->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist
@ -185,7 +185,7 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
Sensor *sensor = sensors_[dev_name];
std::vector<std::string> sub_tokens = split(tokens[6], ',');
if (sub_tokens.size() > 0)
if (sub_tokens.size() > 0 && sub_tokens[0] != "")
{
std::map<std::string, ControlTableItem *>::iterator indirect_it = sensor->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_it != sensor->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist