Merge sdf9 ➡️ sdf12 #1119
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Merge sdf9 ➡️ sdf12 #1119
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When converting a fixed joint in a URDF file to SDFormat, by default the contents of the child link are merged into the parent link, but poses in gazebo extensions such as //gazebo/sensor/pose are not properly transformed (#378). This issue has already been fixed in newer branches by #525, so the test and that fix have been backported and refactored to reduce code duplication (about 30 lines removed from parser_urdf.cc) and also fix the treatment of //gazebo/light/pose. Fixes #378. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## sdf12 #1119 +/- ##
==========================================
+ Coverage 91.28% 91.66% +0.37%
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Files 80 80
Lines 13086 13028 -58
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- Hits 11946 11942 -4
+ Misses 1140 1086 -54
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chapulina
approved these changes
Aug 27, 2022
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➡️ Forward port
Port
sdf9➡️sdf12Branch comparision: sdf12...sdf9
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)