bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree) { urdf::Model robot_model; if (!robot_model.initXml(xml_doc)){ std::cout<<"Could not generate robot model"<<std::endl; // ROS_ERROR("Could not generate robot model"); return false; } return treeFromUrdfModel(robot_model, tree); }
bool treeFromUrdfString(const string& xml, Tree& tree, const bool consider_root_link_inertia) { urdf::ModelInterfacePtr urdf_model; urdf_model = urdf::parseURDF(xml); if( !urdf_model ) { std::cerr << "[ERR] Could not parse string to urdf::ModelInterface" << std::endl; return false; } return treeFromUrdfModel(*urdf_model,tree,consider_root_link_inertia); }