Fixed yaml parsing build error

moveit · Apr 5, 2018 · 5bfde31 · 5bfde31
1 parent 9006559
commit 5bfde31
Showing 1 changed file with 6 additions and 20 deletions.
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -763,39 +763,26 @@ bool MoveItConfigData::inputOMPLYAML(const std::string& file_path)
   try
   {
     YAML::Node doc = YAML::Load(input_stream);
-
-    //yaml_node_t prop_name;
-
 
     // Loop through all groups
-
     for (YAML::const_iterator group_it = doc.begin(); group_it != doc.end(); ++group_it)
     {
       // get group name
-
       const std::string group_name = group_it->first.as<std::string>();
 
       // compare group name found to list of groups in group_meta_data_
       std::map<std::string, GroupMetaData>::iterator group_meta_it;
       group_meta_it = group_meta_data_.find(group_name);
       if (group_meta_it != group_meta_data_.end())
       {
-
-#ifdef HAVE_NEW_YAMLCPP
-        if (prop_name = findValue(group_it->second, "default_planner_config"))
-#else
-        if (prop_name = findValue(group_it.second(), "default_planner_config"))
-#endif
+        std::string planner;
+        parse(group_it->second, "default_planner_config", planner);
+        int pos = planner.find_last_not_of("kConfigDefault");
+        if (pos != std::string::npos)
         {
-          std::string planner;
-          *prop_name >> planner;
-          int pos = planner.find_last_not_of("kConfigDefault");
-          if (pos != std::string::npos)
-          {
-            planner = planner.substr(0, pos + 1);
-          }
-          group_meta_data_[group_name].default_planner_ = planner;
+          planner = planner.substr(0, pos + 1);
         }
+        group_meta_data_[group_name].default_planner_ = planner;
       }
     }
   }
@@ -805,7 +792,6 @@ bool MoveItConfigData::inputOMPLYAML(const std::string& file_path)
     return false;
   }
   return true;
-
 }
 
 // ******************************************************************************************