Improve mass error message

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
gazebosim · Sep 26, 2022 · 1d755ae · 1d755ae
1 parent d007f34
commit 1d755ae
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc
@@ -2626,8 +2626,9 @@ void CreateSDF(TiXmlElement *_root,
     if (_link->inertial && ignition::math::equal(_link->inertial->mass, 0.0))
     {
       _DisplayDbgOrWarning(std::string("urdf2sdf: link[" + _link->name)
-             + "] has mass equal to 0.0, ["
-             + "] children links ignored.\n", _enable_new_warnings);
+             + "] has a mass considered zero ["
+             + std::to_string(_link->inertial->mass) +
+             + "].It is ignored.\n", _enable_new_warnings);
       return;
     }
 

diff --git a/src/parser_urdf_TEST.cc b/src/parser_urdf_TEST.cc
@@ -388,7 +388,7 @@ TEST(URDFParser, EnableNewWarnings)
                    << "      </geometry>"
                    << "    </visual>"
                    << "    <inertial>"
-                   << "      <mass value=\"0.0000001\" />"
+                   << "      <mass value=\"0.000001\" />"
                    << "      <origin xyz=\"0 0 0\" />"
                    << "      <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\""
                    << "               iyy=\"0.001\" iyz=\"0.0\""
@@ -400,7 +400,7 @@ TEST(URDFParser, EnableNewWarnings)
   ASSERT_NO_THROW(parser_.InitModelDoc(&doc));
   // Check warning message
   EXPECT_NE(
-    std::string::npos, buffer.str().find("] has mass equal to 0.0"))
+    std::string::npos, buffer.str().find("] has a mass considered zero ["))
     << buffer.str();
   }
 }