From 9f794faa76ff62715a26f139358e001e41ce653b Mon Sep 17 00:00:00 2001
From: Steven Peters <scpeters@openrobotics.org>
Date: Fri, 1 May 2020 17:08:20 -0700
Subject: [PATCH] Collision: don't load Surface without <surface>

Signed-off-by: Steven Peters <scpeters@openrobotics.org>
---
 src/Collision.cc | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/Collision.cc b/src/Collision.cc
index 11a66883e..47f4c33e5 100644
--- a/src/Collision.cc
+++ b/src/Collision.cc
@@ -130,8 +130,11 @@ Errors Collision::Load(ElementPtr _sdf)
   Errors geomErr = this->dataPtr->geom.Load(_sdf->GetElement("geometry"));
   errors.insert(errors.end(), geomErr.begin(), geomErr.end());
 
-  // Load the surface parameters
-  this->dataPtr->surface.Load(_sdf->GetElement("surface"));
+  // Load the surface parameters if they are given
+  if (_sdf->HasElement("surface"))
+  {
+    this->dataPtr->surface.Load(_sdf->GetElement("surface"));
+  }
 
   return errors;
 }