Make compiled descriptions relocatable#215
Draft
nickswalker wants to merge 3 commits intorobot-descriptions:mainfrom
Draft
Make compiled descriptions relocatable#215nickswalker wants to merge 3 commits intorobot-descriptions:mainfrom
nickswalker wants to merge 3 commits intorobot-descriptions:mainfrom
Conversation
render xacro output to a string and rewrite filenames in memory preserve existing package:// URIs from source descriptions convert repo-local file:// asset paths to package:// URIs add PACKAGE_URI_ROOT to control how package-relative paths are formed update Stretch SE3 to export package URIs from the repository root refresh xacro tests to cover nested package layouts
Contributor
Author
|
The |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Make xacro-generated URDFs relocatable by rewriting repo-local file://... asset references into stable package://... URIs.
Motivation
Some xacro-backed descriptions can emit absolute cache paths in generated URDFs, which makes the output dependent on the local clone location. This change normalizes those paths after expansion so generated URDFs stay portable across machines and cache directories.
Stretch SE3 needs one extra override because it's not a proper resolvable package with a package.xml. We manually set it's package root to simply be the root of the cloned repo.