Fixed else matching to wrong if in building urdf scene

Added check for no material tag in urdf
RobotWebTools · Apr 11, 2014 · 807e40c · 807e40c
1 parent 121b201
commit 807e40c
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Showing 3 changed files with 77 additions and 77 deletions.
diff --git a/build/ros3d.js b/build/ros3d.js
@@ -2368,46 +2368,46 @@ ROS3D.Urdf = function(options) {
             object : mesh
           });
           this.add(sceneNode);
+        }
+      } else {
+        var colorMaterial, shapeMesh;
+        // Save frameID
+        var newFrameID = '/' + link.name;
+        // Save color material
+        if (link.visual.material && link.visual.material.color) {
+          var color = link.visual.material && link.visual.material.color;
+          colorMaterial = ROS3D.makeColorMaterial(color.r, color.g, color.b, color.a);
         } else {
-          var colorMaterial, shapeMesh;
-          // Save frameID
-          var newFrameID = '/' + link.name;
-          // Save color material
-          var color = link.visual.material.color;
-          if (color === null) {
-            colorMaterial = ROS3D.makeColorMaterial(0, 0, 0, 1);
-          } else {
-            colorMaterial = ROS3D.makeColorMaterial(color.r, color.g, color.b, color.a);
-          }
-          // Create a shape
-          switch (link.visual.geometry.type) {
-              case ROSLIB.URDF_BOX:
-                  var dimension = link.visual.geometry.dimension;
-                  var cube = new THREE.CubeGeometry(dimension.x, dimension.y, dimension.z);
-                  shapeMesh = new THREE.Mesh(cube, colorMaterial);
-                  break;
-              case ROSLIB.URDF_CYLINDER:
-                  var radius = link.visual.geometry.radius;
-                  var length = link.visual.geometry.length;
-                  var cylinder = new THREE.CylinderGeometry(radius, radius, length, 16, 1, false);
-                  shapeMesh = new THREE.Mesh(cylinder, colorMaterial);
-                  shapeMesh.useQuaternion = true;
-                  shapeMesh.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI * 0.5);
-                  break;
-              case ROSLIB.URDF_SPHERE:
-                  var sphere = new THREE.SphereGeometry(link.visual.geometry.radius, 16);
-                  shapeMesh = new THREE.Mesh(sphere, colorMaterial);
-                  break;
-          }
-          // Create a scene node with the shape
-          var scene = new ROS3D.SceneNode({
-              frameID: newFrameID,
-              pose: link.visual.origin,
-              tfClient: tfClient,
-              object: shapeMesh
-          });
-          this.add(scene);
+          colorMaterial = ROS3D.makeColorMaterial(0, 0, 0, 1);
+        }
+        // Create a shape
+        switch (link.visual.geometry.type) {
+            case ROSLIB.URDF_BOX:
+                var dimension = link.visual.geometry.dimension;
+                var cube = new THREE.CubeGeometry(dimension.x, dimension.y, dimension.z);
+                shapeMesh = new THREE.Mesh(cube, colorMaterial);
+                break;
+            case ROSLIB.URDF_CYLINDER:
+                var radius = link.visual.geometry.radius;
+                var length = link.visual.geometry.length;
+                var cylinder = new THREE.CylinderGeometry(radius, radius, length, 16, 1, false);
+                shapeMesh = new THREE.Mesh(cylinder, colorMaterial);
+                shapeMesh.useQuaternion = true;
+                shapeMesh.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI * 0.5);
+                break;
+            case ROSLIB.URDF_SPHERE:
+                var sphere = new THREE.SphereGeometry(link.visual.geometry.radius, 16);
+                shapeMesh = new THREE.Mesh(sphere, colorMaterial);
+                break;
         }
+        // Create a scene node with the shape
+        var scene = new ROS3D.SceneNode({
+            frameID: newFrameID,
+            pose: link.visual.origin,
+            tfClient: tfClient,
+            object: shapeMesh
+        });
+        this.add(scene);
       }
     }
   }