fix benchmark_rigid_body_tree (RobotLocomotion#8514)

Kun-Son · Apr 4, 2018 · a087ce5 · a087ce5
1 parent 346448e
commit a087ce5
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/multibody/BUILD.bazel b/multibody/BUILD.bazel
@@ -339,8 +339,10 @@ drake_cc_binary(
     name = "benchmark_rigid_body_tree",
     testonly = 1,
     srcs = ["test/benchmark_rigid_body_tree.cc"],
+    data = ["//examples/atlas:models"],
     deps = [
         ":rigid_body_tree",
+        "//common:find_resource",
         "//common/test_utilities:measure_execution",
         "//multibody/parsers",
     ],

diff --git a/multibody/test/benchmark_rigid_body_tree.cc b/multibody/test/benchmark_rigid_body_tree.cc
@@ -6,6 +6,7 @@
 #include <vector>
 
 #include "drake/common/eigen_types.h"
+#include "drake/common/find_resource.h"
 #include "drake/common/test_utilities/measure_execution.h"
 #include "drake/math/autodiff.h"
 #include "drake/math/autodiff_gradient.h"
@@ -218,7 +219,8 @@ void TestScenario2(const RigidBodyTree<double>& model) {
 int main() {
   auto tree = std::make_unique<RigidBodyTree<double>>();
   drake::parsers::urdf::AddModelInstanceFromUrdfFileToWorld(
-      "examples/atlas/urdf/atlas_minimal_contact.urdf",
+      drake::FindResourceOrThrow(
+          "drake/examples/atlas/urdf/atlas_minimal_contact.urdf"),
       drake::multibody::joints::kRollPitchYaw, tree.get());
 
   drake::multibody::TestScenario1(*tree);