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Home Page: http://ros.org/wiki/urdf
License: Other
URDF parser
Home Page: http://ros.org/wiki/urdf
License: Other
Since commit f2f61e5 the default value for CMAKE_INSTALL_LIBDIR
is unconditionally overwritten with 'lib'. Is there any particular reason to do that and not to respect the value provided by GNUInstallDirs
?
Thanks.
I'm not sure whether this is the right place, but the official Bug Tracker here seems deprecated.
I'm raising this issue because when switching from Indigo/Gazebo 2 to Kinetic/Gazebo 7, the same model of a quadruped robot, which has feet with a perfectly spherical collision volume , doesn't work anymore, because it slips continuously.
I suspect that this is due the new torsional friction property from Gazebo 7.
With reference to the following Gazebo and ROS questions:
https://answers.ros.org/question/271474/robot-slips-after-upgrade-to-kinetic/?comment=271627#post-id-271627
http://answers.gazebosim.org/question/13082/how-do-i-add-torsional-friction-to-urdf-model/
http://answers.gazebosim.org/question/17457/robot-slips-after-upgrade-to-kinetic/
I can't find a way to set the torsional friction properties from the URDF file (which is then converted into a SDF when Gazebo launches).
Apparently, the <gazebo>
tag does not do what I thought, i.e. injecting SDF code into the URDF.
If I put the SDF code to set the torsional friction from within the URDF, they are ignored.
urdfdom has code to parse <sensor>
tags according to this spec.
However, this code doesn't seem to be used. It goes to liburdfdom_sensor, but as symbols are hidden by default, it cannot be used externally.
We are currently in the process of proposing a new Tactile sensor and would like to add the list of parsed sensors to the ModelInterface (see here for our proposal). Any objections to that strategy? Should the robot model be kept as lean as possible instead, leaving the sensor parsing to some separate function returning a list of sensors?
Please comment on the chosen approach and we will adjust accordingly and eventually file a PR.
It seems that the changes in e27ac3b cause the binaries from the urdfdom
package to end up in /opt/ros/hydro/bin
, instead of where they were previously installed (/opt/ros/hydro/share/urdfdom
?). This makes rosrun urdfdom ..
fail with:
[rosrun] Couldn't find executable named check_urdf below /opt/ros/hydro/share/urdf
Was this intended? Then we should probably also update the tutorials.
See https://github.com/ros/urdfdom/blob/master/urdf_parser/src/model.cpp#L132
it sets 'the link visual material', but there might be an array of visuals in each link.
It seems only the first link visual gets its material resolved. This could be an issue if those additional links only contain a material with a name, and not RGBA/texture filename information.
Why is urdf_parser_py in this repository?
It contains ROS-specific code, e.g. from_parameter_server
, which imports rospy when called:
It is released in a separate ROS package (ros-indigo-urdf-parser-py).
It seems to me that it should either be moved into robot_model, OR from_parameter_server
should be removed and it should be released as a python package (to be installed using pip, for example).
@isucan, @eacousineau, etc. what are your thoughts?
Dear all,
I'm currently debugging a code written by my colleague @cmastalli, which is compatible with URDF 0.2
The code assumes 1 child joints for the floating base joint of a URDF model, e.g.:
<joint name="floating_base" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="trunk"/>
</joint>
It seems that the new library URDF 0.4, installed by default on ros kinetic, does not give this child joint.
Has something changed inside the library?
Is it a change in the XML syntax, which makes our urdf files obsolete?
Actuators used in industrial robotic arms typically have a reasonably low inertia, which can be included in the link inertia. However, the actuator inertia has another important effect on the rigid body dynamics; namely, due to the gear ratio between the motor and the joint, the actuator inertia significantly contributes to the required torque to achieve a certain requested motion.
At the moment it seems that the URDF specification does not support the specification of such contribution of motor inertia. I think it could be well-placed in the transmission tag.
Some relevant questions for the discussion:
Thanks in advance for your input.
The URDF page states that more than one mesh can be associated with one link either for visual or collision purpose. Then Scheme currently forbids this. This should be fixed.
Please do not build unit tests unless this variable is set.
See here: https://cmake.org/cmake/help/v3.0/module/CTest.html
Thanks,
Yuri
E.g.:
urdf_parser\test\gtest\include\gtest/gtest-printers.h(500):
warning C4996: 'std::tr1': warning STL4002:
The non-Standard std::tr1 namespace and TR1-only machinery are deprecated and will be REMOVED. You can define _SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING to acknowledge that you have received this warning.
The warnings have been fixed upstream so pulling a newer version of the googletest
code will likely solve this.
The use in several parts of urdfdom of the function std::stod
can be source of errors if the library is used together with other libraries (such as Qt) that change the system locale.
Slightly related, I assume (from all the ROS code using the library) the correct way of encoding floating point numbers as strings in the URDF file format is the one defined by the "C"
standard locale, but this is not actually documented anywhere (see robotology/idyntree#288 (comment)).
Downstream issue: robotology/idyntree#288
Similar SDFormat issue: https://bitbucket.org/osrf/sdformat/issues/60
We currently have travis CI for linux, but I'd also like to have Windows CI with appveyor. The install script shouldn't be too hard to make, but as I took a first look at it, I realized we would have to install console_bridge and urdfdom_headers. It would be nice if we could package those for chocolatey. Does anyone have experience with packaging for chocolatey? @traversaro @jslee02 ?
Can we release the latest updates in this repo to Ubuntu?
two very similar quaternions can result in different and non-equivalent roll pitch yaw angles.
Unint test showing the issue coming soon.
This is part of the unboosting process.
urdf_parser_py fails when processing a URDF containing a element
which adheres to the current specification given in
http://wiki.ros.org/urdf/XML/Transmission .
Because the old specification expected a "type" attribute,
which the new spec includes as a sub-element, the python parser throws "type"-is-missing Exceptions.
Also, the actuator definition became more complex and now includes the mechanicalReduction parameter.
As a temporary fix it's enough to comment the following in urdf.py over here:
xmlr.reflect(Transmission, tag = 'transmission', params = [
name_attribute,
# xmlr.Attribute('type', str),
# xmlr.Element('joint', 'element_name'),
# xmlr.Element('actuator', 'element_name'),
# xmlr.Element('mechanicalReduction', float)
])
This works over here, because we never access the transmission definitions via urdfdom, but obviously it's just a hot fix, nothing more..
Because it's not possible to quickly overlay this ros-code in a uniform local workspace
(you just recently removed catkin support...),
it's pretty important to me to see this fixed in the official ros (ubuntu) packages soon
in types.h for /usr/local/include/urdf_model, the function reinterpret_pointer_cast should return urdf:: not boost:: for successful compilation
The XML schema is currently invalid W.R.T. to the link element. The link uses an xs:all element with some unbounded elements. The XML standard only allows zero or one for the bounds. I'd recommend changing it to a sequence. Changing this would trade off correctness for possible invalidating some existing URDFs.
Are there any plans to make a version of urdfdom that uses c++11 and replaces boost::*_ptr
with std::*_ptr
? One semi-migration strategy could be to start using typedefs:
typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr;
and then in the next major version of urdfdom switch them over to std::
instead of boost::
typedef std::shared_ptr<urdf::Link> UrdfLinkPtr;
Then anyone who wants their code to support both versions could use the typedefs? I'm sure there's big holes in this strategy (such as boost::*_pointer_cast
vs std::*_pointer_cast
), but you've got to start somewhere.
If you try to parse an urdf with urdf_parser_py
it throws an error if your <transmission><joint>..
tags don't have a type
attribute.
Exception: Required attribute not set in XML: type
This is an incorrect error, see http://wiki.ros.org/urdf/XML/Transmission
From what I can understand from the discussion in #1, urdfdom is/was a package in groovy, but I do not see a git branch for it. Also there is a file at https://raw.githubusercontent.com/ros-gbp/urdfdom-release/debian/groovy/precise/urdfdom/package.xml (EDIT: here is the repo https://github.com/ros-gbp/urdfdom-release)
I do see https://github.com/eacousineau/urdf_parser_py, which mentions groovy in the repo description. And I do see https://github.com/laas/robot_model_py/tree/groovy which is not a package called "urdfdom", but it seems this repo and that repo share a common history.
I didn't check all of the history, but my guess is that the project was copied over at this commit
ba8d4de
laas/robot_model_py@ba8d4de
How can we restore the groovy branch (and possibly older versions of ROS, but I'm on groovy) into this repo?
If there were a groovy-devel branch, I would, for example, apply #46
urdfdom finds TinyXML when it is being built, but it does not find it again when it is installed.
Line 35 in 1857a55
Since tinyxml.h
is included in a public header
it should also be find_package
'd in urdfdom-config.cmake
and the include directories should be added to urdfdom_INCLUDE_DIRS
. Currently it hard codes the path to TinyXML
headers when urdfdom was built.
urdfdom/cmake/urdfdom-config.cmake.in
Line 6 in 1857a55
This package has uses its own find module for tinyxml, so that will need to be installed so it can be used from urdfdom-config.cmake
https://github.com/ros/urdfdom/blob/master/cmake/FindTinyXML.cmake
if (urdfdom_CONFIG_INCLUDED)
return()
endif()
set(urdfdom_CONFIG_INCLUDED TRUE)
set(urdfdom_INCLUDE_DIRS "/usr/include" "/usr/include")
foreach(lib urdfdom_sensor;urdfdom_model_state;urdfdom_model;urdfdom_world)
set(onelib "${lib}-NOTFOUND")
find_library(onelib ${lib})
if(NOT onelib)
message(FATAL_ERROR "Library '${lib}' in package urdfdom is not installed properly")
endif()
list(APPEND urdfdom_LIBRARIES ${onelib})
endforeach()
foreach(dep urdfdom_headers;console_bridge)
if(NOT ${dep}_FOUND)
find_package(${dep})
endif()
list(APPEND urdfdom_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
list(APPEND urdfdom_LIBRARIES ${${dep}_LIBRARIES})
endforeach()
URDF attached. Ubuntu 16.04 , ROS Kinetic used.
This is a standard example URDF taken from https://github.com/ros-simulation/gazebo_ros_demos
rrbot.txt
Both tools (check_urdf & urdf_to_graphiz) break on trying to parse macros
$ urdf_to_graphiz rrbot.xacro
Error: Unable to parse component [${height1/2}] to a double (while parsing a vector value)
at line 103 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/pose.cpp
Error: Could not parse inertial element for Link [link1]
at line 434 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/link.cpp
Error: Unable to parse component [${height2/2] to a double (while parsing a vector value)
at line 103 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/pose.cpp
Error: Could not parse inertial element for Link [link2]
at line 434 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/link.cpp
Error: Unable to parse component [${height3/2] to a double (while parsing a vector value)
at line 103 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/pose.cpp
Error: Could not parse inertial element for Link [link3]
at line 434 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/link.cpp
Error: Unable to parse component [${camera_link}] to a double (while parsing a vector value)
at line 149 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/link.cpp
Error: Could not parse visual element for Link [camera_link]
at line 452 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/link.cpp
Error: Unable to parse component [${width}] to a double (while parsing a vector value)
at line 103 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/pose.cpp
Error: Malformed parent origin element for joint [joint1]
at line 402 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/joint.cpp
Error: joint xml is not initialized correctly
at line 207 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed
Hi, could create hydro-devel branch , so that hydro user can compile from source?
current hydro version is here ->
https://github.com/ros-gbp/urdfdom-release/tree/release/hydro/urdfdom
This issue has been moved from bitbucket
From John Hsu:
Looking through robot_model, I think we should:
- Deprecate urdf_parser. Most or all of the functionalities have been moved upstream to urdfdom.
- Deprecate urdf_interface. All of the interface headers are now in urdfdom_headers.
I'm getting the error while trying to install urdfdom on my current computer using the instructions I made in this repo's README.
[ 33%] Built target urdfdom_model_state
Building CXX object urdf_parser/CMakeFiles/urdfdom_world.dir/src/link.cpp.o
Building CXX object urdf_parser/CMakeFiles/urdfdom_model.dir/src/link.cpp.o
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp: In function ‘bool urdf::parseVisual(urdf::Visual&, TiXmlElement*)’:
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp:367:9: error: ‘class urdf::Visual’ has no member named ‘name’
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp: In function ‘bool urdf::parseCollision(urdf::Collision&, TiXmlElement*)’:
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp:409:9: error: ‘class urdf::Collision’ has no member named ‘name’
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp: In function ‘bool urdf::parseVisual(urdf::Visual&, TiXmlElement*)’:
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp:367:9: error: ‘class urdf::Visual’ has no member named ‘name’
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp: In function ‘bool urdf::parseCollision(urdf::Collision&, TiXmlElement*)’:
/home/dave/ros/urdfdom/urdf_parser/src/link.cpp:409:9: error: ‘class urdf::Collision’ has no member named ‘name’
make[2]: *** [urdf_parser/CMakeFiles/urdfdom_world.dir/src/link.cpp.o] Error 1
make[1]: *** [urdf_parser/CMakeFiles/urdfdom_world.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [urdf_parser/CMakeFiles/urdfdom_model.dir/src/link.cpp.o] Error 1
make[1]: *** [urdf_parser/CMakeFiles/urdfdom_model.dir/all] Error 2
make: *** [all] Error 2
Migrated from bitbucket
The use case for this is for specifying contact sensors in gazebo. For example, the reference to collision ${prefix}_l_finger_tip_link_geom
in pr2 gripper XML asssumes the collision name is the link name appended by _geom
, which is an ugly hard-coded approach:
<gazebo reference="${prefix}_l_finger_tip_link">
<turnGravityOff>true</turnGravityOff>
<selfCollide>false</selfCollide>
<sensor type="contact" name="${prefix}_l_finger_tip_contact_sensor">
<update_rate>100.0</update_rate>
<contact>
<collision>${prefix}_l_finger_tip_link_geom</collision>
</contact>
<plugin name="${prefix}_l_finger_tip_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<alwaysOn>true</alwaysOn>
<frameName>${prefix}_l_finger_tip_link</frameName>
<updateRate>100.0</updateRate>
<bumperTopicName>${prefix}_l_finger_tip_bumper</bumperTopicName>
</plugin>
</sensor>
<mu1 value="${finger_tip_mu}" />
<mu2 value="${finger_tip_mu}" />
<kp value="10000000.0" />
<kd value="1.0" />
</gazebo>
Step to reproduce:
$ python -c "from urdf_parser_py.urdf import *"
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/opt/ros/hydro/lib/python2.7/dist-packages/urdf_parser_py/urdf.py", line 1, in <module>
from urdf_parser_py.xml_reflection.basics import *
ImportError: No module named xml_reflection.basics
Apparently xml_reflection is not properly bundled in the current release.
I am working with Ubuntu 12.04 and ROS Hydro. I am also following the Baxter PyKDL Tutorial at http://sdk.rethinkrobotics.com/wiki/Baxter_PyKDL.
Upon running catkin_make, I get the following error:
-- ==> add_subdirectory(baxter_pykdl)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package python_orocos_kdl.
Set python_orocos_kdl_DIR to the directory containing a CMake configuration
file for python_orocos_kdl. The file will have one of the following names:
python_orocos_kdlConfig.cmake
python_orocos_kdl-config.cmake
Call Stack (most recent call first):
baxter_pykdl/CMakeLists.txt:4 (find_package)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:176 (message):
catkin_package() CATKIN_DEPENDS on 'urdfdom', which has been found in
'/opt/ros/hydro/share/urdfdom/cmake/urdfdom-config.cmake', but it is not a
catkin package
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
baxter_pykdl/CMakeLists.txt:19 (catkin_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
It seems the culprit is urdfdom.
I have removed and reinstalled urdfdom and related binaries for hydro. I have also re-tried to catkin_make from scratch.
I am able to roscd to urdfdom. It takes me to /opt/ros/hydro/share/urdfdom
. Inside, however I only see a cmake
folder and the package.xml
file.
I tried to run rosrun urdfdom check_urdf baxter.urdf
but I don't have such executable. I also got an error trying to use urdfdom_py display_urdf.
Any thoughts?
Would the maintainer be open to adding an an attribute to the mesh tag indicating if the mesh is a convex hull? The default would be false.
<mesh filename="" convex="true" />
Looking at #99 it appears the travis CI job failed due to it testing master
on ubuntu trusty.
What's the purpose of each branch? What platform is each branch supposed to support? It looks like all branches besides 0.2
, 0.3
, 0.4
, and master
are unused and could be removed.
Releases:
Thoughts on having CI test the following platforms on each branch?
0.2
0.3
0.4
master
Apparently during the configuration this two libraries (urdfdom_model_state
, urdfdom_sensor
) are created, but no symbol from any of this two libraries is properly exported in https://github.com/ros/urdfdom/blob/master/urdf_parser/include/urdf_parser/urdf_parser.h .
On Windows this causes an error when using the urdfdom
library.
I guess there are three possible solutions:
urdf_model
(but without exposing the symbols this will be unused code).it would be nice if the urdf xml format accepted quaternions in addition to roll, pitch, yaw.
Now that this is upstream, do we have API docs for it somewhere? I see nothing on ros.org, and a quick web search revealed nothing elsewhere either.
I'm sorry to bring further bad news, the ubuntu version of this package is based on 1.0.0 from 2016 which used std::stod
. The issues were subsequently fixed in code but no new release was made.
This can be seen with truncated joint limits for example. (We have one linear joint inside the gripper which obviously moves less than 1.0m ... it's less visible when your revolute joints limit is reduced from 3.141 to 3.0 ...)
@scpeters can we have a new release here as well? @j-rivero can we then get this into debian (and try updating ubuntu)
(followup on ros/urdfdom_headers#45)
@gavanderhoorn so it seems necessary to grep not only the current code but the entire history of ros dependencies for std::stod
usage ... (note that I have not done that)
As suggested by @mikeferguson, it might be more useful to move the transmission parsing code into urdfdom so that the xml standard for urdf is centralized.
This doc page
http://wiki.ros.org/action/info/urdf/XML/visual
seems outdated and contradicts this one http://wiki.ros.org/action/info/urdf/XML/link and the schema.
The page is not listed from http://wiki.ros.org/urdf/XML (and probably not from anywhere else), but does show up in search results.
It should be either removed or updated.
What's the status on this? Or is there a new package to depend on if at all?
I am looking for functions to write a urdf xml file but can't seem to find any. Basically, I am reading joint and body data from another file format, and would like to convert it to URDF.
It looks like this functionality might exist in "urdf_parser_py", but i'm not sure. Other than that, the only other thing i can find that looks like it writes urdf files is "robot_model/collada_urdf/src/collada_to_urdf.cpp".
Thanks
Continuing the thread from the old bitbucket issue and this robot_model_py issue.
@thomas-moulard, @isucan What steps should we take towards merging urdf_parser_py into urdfdom?
As I mentioned in emails long ago, I have developed a Python utility package for kinematics: https://github.com/gt-ros-pkg/hrl-kdl/tree/hydro/pykdl_utils/src/pykdl_utils. It allows you to use the URDF Python parser to generate a PyKDL tree (kdl_parser.py
). Furthermore, I have written a helper class called KDLKinematics
which conveniently wraps PyKDL with numpy wrappers. Finally, JointKinematics
extends KDLKinematics
to automatically read in joint states from the topic /joint_states
, so that forward kinematics can be called without parameters.
Here's an example from kdl_kinematics.py
:
from urdf_parser_py.urdf import Robot
import random
robot = Robot.from_parameter_server()
base_link = robot.get_root()
end_link = robot.link_map.keys()[random.randint(0, len(robot.link_map)-1)]
print "Root link: %s; Random end link: %s" % (base_link, end_link)
kdl_kin = KDLKinematics(robot, base_link, end_link)
q = kdl_kin.random_joint_angles()
print "Random angles:", q
pose = kdl_kin.forward(q)
print "FK:", pose
q_new = kdl_kin.inverse(pose)
print "IK (not necessarily the same):", q_new
if q_new is not None:
pose_new = kdl_kin.forward(q_new)
print "FK on IK:", pose_new
print "Error:", np.linalg.norm(pose_new * pose**-1 - np.mat(np.eye(4)))
else:
print "IK failure"
J = kdl_kin.jacobian(q)
print "Jacobian:", J
M = kdl_kin.inertia(q)
print "Inertia matrix:", M
if False:
M_cart = kdl_kin.cart_inertia(q)
print "Cartesian inertia matrix:", M_cart
I feel like this can be of great use to some people and I'd like to release it somewhere where people are more likely to find it. @isucan is there a good place to integrate this and is there reasonable demand for something like this?
and lxml need to be added to rosdistro.
Otherwise, you get that error:
http://jenkins.ros.org/job/devel-hydro-calibration/ARCH_PARAM=amd64,UBUNTU_PARAM=precise,label=devel/24/testReport/nose.failure/Failure/runTest/
Traceback (most recent call last):
File "/usr/lib/python2.7/unittest/case.py", line 327, in run
testMethod()
File "/usr/lib/python2.7/dist-packages/nose/loader.py", line 390, in loadTestsFromName
addr.filename, addr.module)
File "/usr/lib/python2.7/dist-packages/nose/importer.py", line 39, in importFromPath
return self.importFromDir(dir_path, fqname)
File "/usr/lib/python2.7/dist-packages/nose/importer.py", line 86, in importFromDir
mod = load_module(part_fqname, fh, filename, desc)
File "/tmp/test_repositories/src_repository/calibration/calibration_estimation/test/chain_sensor_unittest.py", line 56, in
from calibration_estimation.urdf_params import UrdfParams
File "/tmp/test_repositories/src_repository/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py", line 40, in
from urdf_parser_py.urdf import *
File "/opt/ros/hydro/lib/python2.7/dist-packages/urdf_parser_py/urdf.py", line 1, in
from urdf_parser_py.xml_reflection.basics import *
File "/opt/ros/hydro/lib/python2.7/dist-packages/urdf_parser_py/xml_reflection/init.py", line 1, in
from urdf_parser_py.xml_reflection.core import *
File "/opt/ros/hydro/lib/python2.7/dist-packages/urdf_parser_py/xml_reflection/core.py", line 1, in
from urdf_parser_py.xml_reflection.basics import *
File "/opt/ros/hydro/lib/python2.7/dist-packages/urdf_parser_py/xml_reflection/basics.py", line 4, in
from lxml import etree
ImportError: No module named lxml
Would you guys be amenable to providing library versioning and ABI versioning (SONAME) to urdfdom? It's pretty simple to do in CMake, and it helps for things like parallel installation of multiple library versions, enforcing ABI changes through ld, etc. There's an example of how to do so in the urdfdom Fedora review request at https://bugzilla.redhat.com/show_bug.cgi?id=871205#c3, I can also code it up and submit a pull request if it's easier.
When urdfdom
is used in ROS-agnostic libraries such as moveit_core
, a lot of junk output is sent to the debug console. There is no way to separate all the logDebug
output from that of the moveit_core
debug output, even though I'm only interested in the moveit_core
output. Is there a way to fix this through rosconsole_bridge
or console_bridge
? Currently I've manually removed all the logDebug output... perhaps urdfdom is stable enough to allow us to just comment out these parts?
hi everyone, I am tring to run make command for serialmaster program in ubuntu 14, but it gives following error Could not find a package configuration file provided by "catkin" with any
of the following names:
catkinConfig.cmake
catkin-config.cmake
Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
"catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.
help anyone?
ninja: no work to do.
[0/1] cd /usr/ports/misc/urdfdom/work/.build && /usr/local/bin/ctest --force-new-ctest-process
Test project /usr/ports/misc/urdfdom/work/.build
Start 1: urdf_double_convert
1/4 Test #1: urdf_double_convert .............. Passed 0.00 sec
Start 2: urdf_double_convert_locale
2/4 Test #2: urdf_double_convert_locale ....... Passed 0.00 sec
Start 3: urdf_unit_test
3/4 Test #3: urdf_unit_test ...................***Exception: SegFault 0.00 sec
Start 4: urdf_unit_test_locale
4/4 Test #4: urdf_unit_test_locale ............***Exception: SegFault 0.01 sec
50% tests passed, 2 tests failed out of 4
Total Test time (real) = 0.02 sec
The following tests FAILED:
3 - urdf_unit_test (SEGFAULT)
4 - urdf_unit_test_locale (SEGFAULT)
FreeBSD 11.2 amd64
Has there been any discussion about adding a "specular" field to Materials in the ROS community?
I've seen that the bullet urdf parser supports it but says it's non-standard. We might have a use case for it in rviz so I am trying to understand if it's been considered before but rejected.
TinyXML development has been stopped for a while and the original developper has been focusing on TinyXML2 since.
Would the maintainers of urdfdom
be opened to a PR migrating to tinyxml2 ?
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