Fix RobotState::getRigidlyConnectedParentLinkModel() (backport #2985) #2993
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Simplify function using
getFrameInfo()
to yield the link corresponding to the given frame.The order of frame resolution was wrong here:
If a link frame containing a slash was given, the code was expecting an attached body with a subframe. As these didn't exist, the function falsely returned
NULL
.@sjahr: Maybe this is the error you recently observed? Note, that the function was already fixed in MoveIt1.
This is an automatic backport of pull request #2985 done by Mergify.