Cherry-pick sdf9 to sdf10

.github/workflows/macos.yml

@@ -0,0 +1,45 @@
+name: macOS latest
+
+on: [push, pull_request]
+
+jobs:
+  build:
+
+    env:
+      PACKAGE: sdformat10
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Homebrew
+      id: set-up-homebrew
+      uses: Homebrew/actions/setup-homebrew@master
+    - run: brew config
+
+    - name: Install base dependencies
+      run: |
+        brew tap osrf/simulation;
+        brew install --only-dependencies ${PACKAGE};
+
+    - run: mkdir build
+    - name: cmake
+      working-directory: build
+      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+    - run: make
+      working-directory: build
+    - run: make test
+      working-directory: build
+      env:
+        CTEST_OUTPUT_ON_FAILURE: 1
+    - name: make install
+      working-directory: build
+      run: |
+        make install;
+        brew link ${PACKAGE};
+    - name: Compile example code
+      working-directory: examples
+      run: |
+        mkdir build;
+        cd build;
+        cmake ..;
+        make;
+        ./simple ../simple.sdf;

.github/workflows/pr-collection-labeler.yml

@@ -1,6 +1,6 @@
 name: PR Collection Labeler
 
-on: pull_request
+on: pull_request_target
 
 jobs:
   pr_collection_labeler:

Migration.md

@@ -268,6 +268,14 @@ but with improved human-readability..
     + required: 0
     + [BitBucket pull request 589](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/589)
 
+1. **material.sdf** `//material/double_sided` element
+    + description: Flag to indicate whether the mesh that this material is applied to
+      will be rendered as double sided.
+    + type: bool
+    + default: false
+    + required: 0
+    + [pull request 418](https://github.com/osrf/sdformat/pull/418)
+
 1. **model.sdf** `//model/@canonical_link` attribute
     + description: The name of the canonical link in this model to which the
       model's implicit frame is attached. This implies that a model must have

src/parser.cc

@@ -774,7 +774,8 @@ std::string getModelFilePath(const std::string &_modelDirPath)
     if (!sdf::filesystem::exists(configFilePath))
     {
       // We didn't find manifest.xml either, output an error and get out.
-      sdferr << "Could not find model.config or manifest.xml for the model\n";
+      sdferr << "Could not find model.config or manifest.xml in ["
+             << _modelDirPath << "]\n";
       return std::string();
     }
     else
@@ -960,6 +961,15 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, Errors &_errors)
 
           // Get the config.xml filename
           filename = getModelFilePath(modelPath);
+
+          if (filename.empty())
+          {
+            _errors.push_back({ErrorCode::URI_LOOKUP,
+                "Unable to resolve uri[" + uri + "] to model path [" +
+                modelPath + "] since it does not contain a model.config " +
+                "file."});
+            continue;
+          }
         }
         else
         {

test/integration/includes.cc

@@ -318,3 +318,40 @@ TEST(IncludesTest, Includes_15_convert)
   EXPECT_EQ("1.6", modelElem->OriginalVersion());
   EXPECT_EQ("1.6", linkElem->OriginalVersion());
 }
+
+//////////////////////////////////////////////////
+TEST(IncludesTest, IncludeModelMissingConfig)
+{
+  sdf::setFindCallback(findFileCb);
+
+  std::ostringstream stream;
+  stream
+    << "<sdf version='" << SDF_VERSION << "'>"
+    << "<include>"
+    << "  <uri>box_missing_config</uri>"
+    << "</include>"
+    << "</sdf>";
+
+  sdf::SDFPtr sdfParsed(new sdf::SDF());
+  sdf::init(sdfParsed);
+  sdf::Errors errors;
+  ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed, errors));
+
+  ASSERT_GE(1u, errors.size());
+  EXPECT_EQ(1u, errors.size());
+  std::cout << errors[0] << std::endl;
+  EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::URI_LOOKUP);
+  EXPECT_NE(std::string::npos, errors[0].Message().find(
+      "Unable to resolve uri[box_missing_config] to model path")) << errors[0];
+  EXPECT_NE(std::string::npos, errors[0].Message().find(
+      "box_missing_config] since it does not contain a model.config file"))
+    << errors[0];
+
+  sdf::Root root;
+  errors = root.Load(sdfParsed);
+  for (auto e : errors)
+    std::cout << e.Message() << std::endl;
+  EXPECT_TRUE(errors.empty());
+
+  EXPECT_EQ(0u, root.ModelCount());
+}

test/integration/model/box_missing_config/model.sdf

@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="box">
+    <pose>0 0 0.5 0 0 0</pose>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>1 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>1 1 1</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>