{"action":"closed","issue":{"url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/25","labels_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/25/labels{/name}","comments_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/25/comments","events_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/25/events","html_url":"https://github.com/CentroEPiaggio/kuka-lwr/issues/25","id":86614879,"number":25,"title":"Adapt lwr_controllers to urdf with dummy links","user":{"login":"marcoesposito1988","id":439893,"avatar_url":"https://avatars.githubusercontent.com/u/439893?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoesposito1988","html_url":"https://github.com/marcoesposito1988","followers_url":"https://api.github.com/users/marcoesposito1988/followers","following_url":"https://api.github.com/users/marcoesposito1988/following{/other_user}","gists_url":"https://api.github.com/users/marcoesposito1988/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoesposito1988/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoesposito1988/subscriptions","organizations_url":"https://api.github.com/users/marcoesposito1988/orgs","repos_url":"https://api.github.com/users/marcoesposito1988/repos","events_url":"https://api.github.com/users/marcoesposito1988/events{/privacy}","received_events_url":"https://api.github.com/users/marcoesposito1988/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-06-09T14:19:18Z","updated_at":"2015-06-25T10:09:45Z","closed_at":"2015-06-25T10:09:45Z","body":"The new dummy links added to the URDF after the merge make it impossible to initialize the controllers in lwr_controller.\r\n\r\nIn particular, kdl_tree_.getNrOfJoints() returns 14, screwing up all index computations.\r\n\r\nIs there a way to avoid these dummy links that clutter the URDF? It looks like we cannot use KDL any more, at least not without huge hacks."}}