Add XML schema validation for ros2_control tag and test assets

hardware_interface/CMakeLists.txt

@@ -73,6 +73,8 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
+  find_package(ament_index_cpp REQUIRED)
+  find_package(LibXml2)
 
   ament_add_gmock(test_macros test/test_macros.cpp)
   target_include_directories(test_macros PRIVATE include)
@@ -101,6 +103,13 @@ if(BUILD_TESTING)
   ament_add_gmock(test_component_parser test/test_component_parser.cpp)
   target_link_libraries(test_component_parser hardware_interface ros2_control_test_assets::ros2_control_test_assets)
 
+  # Test XML Schema Validator
+  ament_add_gmock(test_validate_xml_schema test/test_validate_xml_schema.cpp)
+  target_link_libraries(test_validate_xml_schema
+    ament_index_cpp::ament_index_cpp
+    LibXml2::LibXml2
+  )
+
   add_library(test_hardware_components SHARED
   test/test_hardware_components/test_single_joint_actuator.cpp
   test/test_hardware_components/test_force_torque_sensor.cpp
@@ -125,6 +134,12 @@ install(
   DIRECTORY include/
   DESTINATION include/hardware_interface
 )
+
+install(
+  DIRECTORY schema
+  DESTINATION share/hardware_interface
+)
+
 install(
   TARGETS
     mock_components

hardware_interface/package.xml

@@ -31,6 +31,8 @@
   <exec_depend>rcutils</exec_depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
+  <test_depend>libxml2</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

hardware_interface/schema/ros2_control.xsd

@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
+           elementFormDefault="qualified">
+
+  <!-- Reusable types -->
+  <xs:complexType name="paramType">
+    <xs:simpleContent>
+      <xs:extension base="xs:string">
+        <xs:attribute name="name" type="xs:string" use="required"/>
+      </xs:extension>
+    </xs:simpleContent>
+  </xs:complexType>
+
+  <xs:complexType name="interfaceType">
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="commandInterfaceType">
+    <xs:sequence>
+      <xs:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded"/>
+    </xs:sequence>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointOrGpioType">
+    <xs:sequence>
+      <xs:element name="command_interface" type="commandInterfaceType" minOccurs="0" maxOccurs="unbounded"/>
+      <xs:element name="state_interface" type="interfaceType" minOccurs="0" maxOccurs="unbounded"/>
+    </xs:sequence>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+
+
+  <!-- Root robot element -->
+  <xs:element name="robot">
+    <xs:complexType>
+      <xs:choice minOccurs="0" maxOccurs="unbounded">
+        <xs:element ref="link"/>
+        <xs:element ref="joint"/>
+        <xs:element ref="ros2_control"/>
+        <xs:element ref="transmission" minOccurs="0" maxOccurs="unbounded"/>
+        <xs:element ref="material" minOccurs="0" maxOccurs="unbounded"/>
+        <!-- Add more URDF elements here as needed -->
+      </xs:choice>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+
+  <!-- Minimal link and joint element definitions for validation -->
+  <xs:element name="link">
+    <xs:complexType mixed="true">
+      <xs:sequence minOccurs="0" maxOccurs="unbounded">
+        <xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+  <xs:element name="joint">
+    <xs:complexType mixed="true">
+      <xs:sequence minOccurs="0" maxOccurs="unbounded">
+        <xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+      <xs:attribute name="type" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+  <xs:element name="transmission" type="xs:anyType"/>
+  <xs:element name="material" type="xs:anyType"/>
+
+
+  <!-- ros2_control block -->
+  <xs:element name="ros2_control">
+    <xs:complexType>
+      <xs:sequence>
+        <xs:element name="hardware">
+          <xs:complexType>
+            <xs:sequence>
+              <xs:element name="plugin" type="xs:string"/>
+              <xs:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded"/>
+            </xs:sequence>
+          </xs:complexType>
+        </xs:element>
+        <xs:choice minOccurs="0" maxOccurs="unbounded">
+          <xs:element name="joint" type="jointOrGpioType" minOccurs="0" maxOccurs="unbounded"/>
+          <xs:element name="gpio" type="jointOrGpioType" minOccurs="0" maxOccurs="unbounded"/>
+          <xs:element name="sensor" minOccurs="0" maxOccurs="unbounded">
+            <xs:complexType>
+              <xs:sequence>
+                <xs:element name="state_interface" type="interfaceType" minOccurs="0" maxOccurs="unbounded"/>
+              </xs:sequence>
+              <xs:attribute name="name" type="xs:string" use="required"/>
+            </xs:complexType>
+          </xs:element>
+        </xs:choice>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+      <xs:attribute name="type" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+</xs:schema>

hardware_interface/test/test_validate_xml_schema.cpp

@@ -0,0 +1,120 @@
+// Copyright 2025 ros2_control development team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <libxml/parser.h>
+#include <libxml/xmlschemas.h>
+
+#include <string>
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
+class XmlParser
+{
+public:
+  XmlParser(const std::string & xmlFilePath, const std::string & xsdFilePath)
+  : doc(nullptr), schema(nullptr), schemaCtx(nullptr)
+  {
+    this->xmlFile = xmlFilePath;
+    this->xsdFile = xsdFilePath;
+  }
+
+  ~XmlParser()
+  {
+    if (doc)
+    {
+      xmlFreeDoc(doc);
+    }
+    if (schemaCtx)
+    {
+      xmlSchemaFreeParserCtxt(schemaCtx);
+    }
+    if (schema)
+    {
+      xmlSchemaFree(schema);
+    }
+    xmlCleanupParser();
+  }
+
+  bool parseAndValidate()
+  {
+    doc = xmlReadFile(xmlFile.c_str(), nullptr, 0);
+    if (!doc)
+    {
+      return false;
+    }
+
+    schemaCtx = xmlSchemaNewParserCtxt(xsdFile.c_str());
+    if (!schemaCtx)
+    {
+      return false;
+    }
+    schema = xmlSchemaParse(schemaCtx);
+    if (!schema)
+    {
+      return false;
+    }
+
+    xmlSchemaValidCtxtPtr validCtx = xmlSchemaNewValidCtxt(schema);
+    if (!validCtx)
+    {
+      return false;
+    }
+    int ret = xmlSchemaValidateDoc(validCtx, doc);
+    xmlSchemaFreeValidCtxt(validCtx);
+
+    return ret == 0;
+  }
+
+private:
+  std::string xmlFile;
+  std::string xsdFile;
+  xmlDocPtr doc;
+  xmlSchemaPtr schema;
+  xmlSchemaParserCtxtPtr schemaCtx;
+};
+
+// Test fixture for XML schema validation
+class XmlSchemaValidationTest : public ::testing::Test
+{
+protected:
+  std::string valid_xml;
+  std::string invalid_xml;
+  std::string xsd;
+
+  void SetUp() override
+  {
+    // Use ament_index_cpp to get the package share directory
+    std::string urdf_package_share_dir =
+      ament_index_cpp::get_package_share_directory("ros2_control_test_assets");
+    std::string xsd_package_share_dir =
+      ament_index_cpp::get_package_share_directory("hardware_interface");
+    valid_xml = urdf_package_share_dir + "/urdf/test_hardware_components.urdf";
+    invalid_xml = urdf_package_share_dir + "/urdf/test_hardware_components_with_error.urdf";
+    xsd = xsd_package_share_dir + "/schema/ros2_control.xsd";
+  }
+};
+
+TEST_F(XmlSchemaValidationTest, ValidXmlPasses)
+{
+  XmlParser parser(valid_xml, xsd);
+  EXPECT_TRUE(parser.parseAndValidate());
+}
+
+TEST_F(XmlSchemaValidationTest, InvalidXmlFails)
+{
+  XmlParser parser(invalid_xml, xsd);
+  EXPECT_FALSE(parser.parseAndValidate());
+}

ros2_control_test_assets/CMakeLists.txt

@@ -15,7 +15,7 @@ install(
   DESTINATION include/ros2_control_test_assets
 )
 install(
-  FILES urdf/test_hardware_components.urdf
+  FILES urdf/test_hardware_components.urdf urdf/test_hardware_components_with_error.urdf
   DESTINATION share/ros2_control_test_assets/urdf
 )
 install(TARGETS ros2_control_test_assets

ros2_control_test_assets/urdf/test_hardware_components.urdf

@@ -52,6 +52,7 @@
   <ros2_control name="TestSensorComponent" type="sensor">
     <hardware>
       <plugin>test_hardware_components/TestForceTorqueSensor</plugin>
+      <param name="test_param">0</param>
     </hardware>
     <sensor name="ft_sensor">
       <state_interface name="fx"/>
@@ -68,12 +69,22 @@
       <plugin>test_hardware_components/TestTwoJointSystem</plugin>
     </hardware>
     <joint name="joint1">
-      <command_interface name="position"/>
+      <command_interface name="position">
+        <param name="min">-1</param>
+        <param name="max">1</param>
+      </command_interface>
       <state_interface name="position"/>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <state_interface name="position"/>
     </joint>
+    <gpio name="flange_analog_IOs">
+      <command_interface name="analog_output1">
+        <param name="min">0</param>
+        <param name="max">1</param>
+      </command_interface>
+      <state_interface name="analog_input1"/>
+    </gpio>
   </ros2_control>
 </robot>