From 47358adf5ee6a8114fdd33a23d8bb5175e3ce9cd Mon Sep 17 00:00:00 2001
From: Justin Carpentier <jcarpent@laas.fr>
Date: Mon, 15 Jan 2018 12:48:08 +0100
Subject: [PATCH] [wip/pinocchio] Fix compatibility with Ubuntu 14.04 - add
missing patches
---
pinocchio/patches/patch-aa | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
create mode 100644 pinocchio/patches/patch-aa
diff --git a/pinocchio/patches/patch-aa b/pinocchio/patches/patch-aa
new file mode 100644
index 00000000..f996e767
--- /dev/null
+++ b/pinocchio/patches/patch-aa
@@ -0,0 +1,19 @@
+diff --git src/parsers/urdf/geometry.cpp src/parsers/urdf/geometry.cpp
+index bda85b2..ec6a3eb 100644
+--- src/parsers/urdf/geometry.cpp
++++ src/parsers/urdf/geometry.cpp
+@@ -334,8 +334,13 @@ namespace se3
+ {
+ meshPath.clear();
+ #ifdef WITH_HPP_FCL
++#ifdef URDFDOM_COLLISION_WITH_GROUP_NAME
++ const std::string & geom_name = (*i)->group_name;
++#else
++ const std::string & geom_name = (*i)->name;
++#endif
+ const boost::shared_ptr<fcl::CollisionGeometry> geometry =
+- retrieveCollisionGeometry(tree, link_name, (*i)->name,
++ retrieveCollisionGeometry(tree, link_name, geom_name,
+ (*i)->geometry, package_dirs, meshPath, meshScale);
+ #else
+ ::urdf::MeshSharedPtr urdf_mesh = ::urdf::dynamic_pointer_cast< ::urdf::Mesh> ((*i)->geometry);
--
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