Better robustness and package handling for URDF parsing #364
Conversation
This file contains 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
jslee02
added a commit
that referenced
this pull request
Mar 24, 2015
Better robustness and package handling for URDF parsing
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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Outdated suggestions cannot be applied.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.
I made changes to the URDF parser so that it can handle package names and directories correctly (thanks @ehuang3 for the info), and while I was at it, I found that the parser was rife with poor error handling (including memory leaks and poorly explained exits) and screwy formatting, so I fixed some of that as well.
Now the URDF parsing can handle arbitrarily many different packages (instead of assuming that all resources will be in the same package), but it still depends on the user to specify the paths to the package directories.
I also added the ability to parse raw xml strings instead of only allowing xml files.
Note that there was a necessary API change in order to support multiple packages. This will not affect any users who were not using URDFs with ROS packages in the first place.