updated to urdf parser from xmldom (rqt_joint_trajectory_controller) #1982
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bijoua29,
christophfroehlich,
destogl,
livanov93,
mcbed,
qiayuanl and
xguay
Ashray4
changed the title
| root = ET.fromstring(description) | ||
| for rc in root.findall("ros2_control"): | ||
| root.remove(rc) | ||
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| cleaned_description = ET.tostring(root, encoding="unicode") |
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can you comment on why we need to remove this?
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When i tested with ros2_control_demos , i got these unknown tags
ros2 run rqt_gui rqt_gui --force-discover -s rqt_joint_trajectory_controller
Waiting for the robot_description!
Waiting for the robot_description!
Waiting for the robot_description!
Unknown tag "ros2_control" in /robot[@name='2dof_robot']
also while testing with some robot descriptions with inertial tags as well
Unknown attribute "iyx" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia
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ok it seems that the parser is very strict with that. iyx/izx/izy does not exist in the spec, this really is an issue in the URDF.
Unless there isn't a possibility to switch to a robust mode in the urdf module, your fix seems to be fine!
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i will check if there is a possibility of the robust mode, and also write the test case as you mentioned
| # TODO: Use urdf_parser_py.urdf instead. I gave it a try, but got | ||
| # Exception: Required attribute not set in XML: upper | ||
| # upper is an optional attribute, so I don't understand what's going on | ||
| # See comments in https://github.com/ros/urdfdom/issues/36 |
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if fixed, please remove L21-24
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1982 +/- ##
==========================================
+ Coverage 85.11% 85.17% +0.06%
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Files 143 143
Lines 13740 13730 -10
Branches 1201 1200 -1
==========================================
Hits 11695 11695
+ Misses 1638 1628 -10
Partials 407 407
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2 participants
Update joint-limits parsing to use urdf_parser_py