DART support for a link being child of two different joints

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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DART segfaults when destroying the world if there is a link which is the child of two different joints. This happens in the PR2 for example, but any simple model with 3 links and 2 joints is sufficient to trigger the problem:

#!xml


<sdf version="1.5">
  <world name="default">
    <model name="box">
      <link name="link1" />
      <link name="link2" />
      <link name="link3" />
      <joint name="joint1" type="revolute">
        <parent>link1</parent>
        <child>link3</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
      <joint name="joint2" type="revolute">
        <parent>link2</parent>
        <child>link3</child>
        <axis>
          <xyz>0 1 0</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>

This looks like an upstream issue.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Peter Horak (Bitbucket: pchorak).

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pull request #2756 adds support for kinematic loops (and multiple parent joints)

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

pull request #2756