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enables multi-model support in the URDF parse. Added unit test RigidBodyTreeTest/TestFindModelInstanceBodies.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/3157)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/240277289","html_url":"https://github.com/RobotLocomotion/drake/pull/3157#issuecomment-240277289","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3157","id":240277289,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2016-08-17T00:08:26Z","updated_at":"2016-08-17T00:08:26Z","body":"Platform review: just a few minor things.\n\n---\n\nReviewed 25 of 30 files at r1, 1 of 1 files at r2, 13 of 13 files at r3.\nReview status: all files reviewed at latest revision, 8 unresolved discussions.\n\n---\n\n*[drake/examples/Cars/car_simulation.cc, line 79 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKdmJ6aeKCLmX9GgwQ:-KPKdmJ6aeKCLmX9GgwR:b-oc8qta) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/drake/examples/Cars/car_simulation.cc#L79)):*\n> ```cpp\n>       Eigen::aligned_allocator<RigidBodySystem>());\n> \n>   // Adds a robot model.\n> ```\n\nBTW, \"robot model\"?\n\n---\n\n*[drake/systems/plants/parser_sdf.h, line 74 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKgoY-Hg7VbXGdmwE5:-KPKgoY0WU3jhESbw1d9:b-xa6p99) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/drake/systems/plants/parser_sdf.h#L74)):*\n> ```objc\n>  * @param[in] description The SDF description of one or more models.\n>  *\n>  * @param[in] package_map A map of ROS package names to their paths. These are\n> ```\n\nThis parameter doesn't exist here.\n\n---\n\n*[drake/systems/plants/parser_urdf.cc, line 855 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKhV1J3G_F_cbzCCpo:-KPKhV1J3G_F_cbzCCpp:b-j6xf2a) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/drake/systems/plants/parser_urdf.cc#L855)):*\n> ```cpp\n> /**\n>  * Searches for a joint that connects the URDF model to a body called\n>  * RigidBodyTree::kWorldLinkName. If it finds such a joint, it updates\n> ```\n\nLooks like it is still `kWorldName` below.\n\n---\n\n*[drake/systems/plants/parser_urdf.cc, line 1083 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKhw1IMVTfrdFXr69d:-KPKhw1IMVTfrdFXr69e:b-hdyhn4) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/drake/systems/plants/parser_urdf.cc#L1083)):*\n> ```cpp\n>     RigidBodyTree* tree) {\n>   const string root_dir = \".\";\n>   std::shared_ptr<RigidBodyFrame> weld_to_frame;\n> ```\n\nnot used?\n\n---\n\n*[ros/drake_ros_common/package.xml, line 22 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKnG0bxwpZ59iZvJRB:-KPKnG0cb4n0AZVtKZUj:brwiwgq) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/ros/drake_ros_common/package.xml#L22)):*\n> ```XML\n>   <buildtool_depend>catkin</buildtool_depend>\n>   <build_depend>roscpp</build_depend>\n> </package>\n> ```\n\nmissing newline at eof\n\n---\n\n*[ros/drake_ros_common/include/drake/ros/parameter_server.h, line 8 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKnQCpFxsjosTrkZZo:-KPKnQCpFxsjosTrkZZp:bcgqkfs) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/ros/drake_ros_common/include/drake/ros/parameter_server.h#L8)):*\n> ```objc\n> namespace ros {\n> \n> // namespace {\n> ```\n\nwhat's with this commented-out namespace?\n\n---\n\n*[ros/drake_ros_common/src/parameter_server.cc, line 6 \\[r3\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPKo0eQmdsrjAW_ccGX:-KPKo0eQmdsrjAW_ccGY:b3kre) ([raw file](https://github.com/robotlocomotion/drake/blob/ef37ad2f01bafd2829857eae9d2a02bc176617d7/ros/drake_ros_common/src/parameter_server.cc#L6)):*\n> ```cpp\n> namespace ros {\n> \n> // namespace {\n> ```\n\n?\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-:-KPKopddX9wKreROTlsB:bgdte21)*\n<!-- Sent from Reviewable.io -->\n"}}
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