Update for urdf 1.0 (Closes: #22)

uos · May 26, 2017 · 7df157f · 7df157f
1 parent 45985f6
commit 7df157f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/katana_moveit_ikfast_plugin/src/katana_450_6m90a_ikfast_plugin.cpp b/katana_moveit_ikfast_plugin/src/katana_450_6m90a_ikfast_plugin.cpp
@@ -360,7 +360,7 @@ bool IKFastKinematicsPlugin::initialize(const std::string &robot_description,
 
   ROS_DEBUG_STREAM_NAMED("ikfast","Reading joints and links from URDF");
 
-  urdf::LinkSharedPtr link = boost::const_pointer_cast<urdf::Link>(robot_model.getLink(getTipFrame()));
+  urdf::LinkConstSharedPtr link = robot_model.getLink(getTipFrame());
   while(link->name != base_frame_ && joint_names_.size() <= num_joints_)
   {
     ROS_DEBUG_NAMED("ikfast","Link %s",link->name.c_str());