Collision geometry are parsed even when not requested

[florent-lamiraux]

Function parse in urdf-parser.h, urdf-parser.cpp parses collision and visual geometries specified in URDF file whenever linkFrame is true.

This raises an issue when the parser does not know how to parse collision file.

[jmirabel]

The function parse should be fixed as it should not be an error.

Independently of the problem of urdf-parser.cpp, you can check that the DAE plugin is found by OSG using osgconv --plugins | grep dae

[jmirabel]

I unassigned myself as it is unlikely I'll work on this now. I still think this is useful.