Initial urdf parser plugin that parses sdformat

CMakeLists.txt

@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(sdformat_urdf)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+
+find_package(pluginlib REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(resource_retriever REQUIRED)
+find_package(sdformat9 REQUIRED)
+find_package(urdfdom_headers REQUIRED)
+find_package(urdf_parser_plugin REQUIRED)
+
+# Add sdformat_urdf shared library
+add_library(sdformat_urdf SHARED
+  src/sdformat_urdf.cpp
+)
+target_link_libraries(sdformat_urdf
+  PUBLIC
+    sdformat9::sdformat9
+)
+target_link_libraries(sdformat_urdf
+  PRIVATE
+    resource_retriever::resource_retriever
+)
+target_include_directories(sdformat_urdf
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>"
+    ${urdfdom_headers_INCLUDE_DIRS}
+)
+
+# Add sdformat_urdf_plugin module library
+add_library(sdformat_urdf_plugin MODULE
+  src/sdformat_urdf_plugin.cpp
+)
+target_link_libraries(sdformat_urdf_plugin PUBLIC
+  sdformat_urdf
+)
+ament_target_dependencies(sdformat_urdf_plugin PUBLIC
+  "pluginlib"
+  "rcutils"
+  "urdf_parser_plugin"
+)
+
+ament_export_dependencies(urdfdom_headers)
+ament_export_dependencies(sdformat9)
+
+install(TARGETS sdformat_urdf sdformat_urdf_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(TARGETS sdformat_urdf EXPORT sdformat_urdf-export)
+ament_export_targets(sdformat_urdf-export)
+
+pluginlib_export_plugin_description_file(urdf_parser_plugin "sdformat_urdf_plugin.xml")
+
+ament_package()

include/sdformat_urdf/sdformat_urdf.hpp

@@ -0,0 +1,38 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+
+#include <sdf/sdf.hh>
+#include <urdf_world/types.h>
+#include <urdf_model/types.h>
+
+#include <sdformat_urdf/visibility_control.hpp>
+
+namespace sdformat_urdf {
+/// \brief Parse an SDFormat XML string and return URDF C++ structures
+SDFORMAT_URDF_PUBLIC
+urdf::ModelInterfaceSharedPtr
+parse(const std::string & data, sdf::Errors & errors);
+
+/// \brief Convert SDFormat C++ structures to URDF C++ structures
+SDFORMAT_URDF_PUBLIC
+urdf::ModelInterfaceSharedPtr
+sdf_to_urdf(const sdf::Root & sdf_dom, sdf::Errors & errors);
+
+/// \brief Convert SDFormat Model to URDF Model
+SDFORMAT_URDF_PUBLIC
+urdf::ModelInterfaceSharedPtr
+convert_model(const sdf::Model & sdf_model, sdf::Errors & errors);
+}  // namespace sdformat_urdf

include/sdformat_urdf/visibility_control.hpp

@@ -0,0 +1,58 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SDFORMAT_URDF__VISIBILITY_CONTROL_H_
+#define SDFORMAT_URDF__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define SDFORMAT_URDF_EXPORT __attribute__ ((dllexport))
+    #define SDFORMAT_URDF_IMPORT __attribute__ ((dllimport))
+  #else
+    #define SDFORMAT_URDF_EXPORT __declspec(dllexport)
+    #define SDFORMAT_URDF_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef SDFORMAT_URDF_BUILDING_DLL
+    #define SDFORMAT_URDF_PUBLIC SDFORMAT_URDF_EXPORT
+  #else
+    #define SDFORMAT_URDF_PUBLIC SDFORMAT_URDF_IMPORT
+  #endif
+  #define SDFORMAT_URDF_PUBLIC_TYPE SDFORMAT_URDF_PUBLIC
+  #define SDFORMAT_URDF_LOCAL
+#else
+  #define SDFORMAT_URDF_EXPORT __attribute__ ((visibility("default")))
+  #define SDFORMAT_URDF_IMPORT
+  #if __GNUC__ >= 4
+    #define SDFORMAT_URDF_PUBLIC __attribute__ ((visibility("default")))
+    #define SDFORMAT_URDF_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define SDFORMAT_URDF_PUBLIC
+    #define SDFORMAT_URDF_LOCAL
+  #endif
+  #define SDFORMAT_URDF_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SDFORMAT_URDF__VISIBILITY_CONTROL_H_

package.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sdformat_urdf</name>
+  <version>0.1.0</version>
+  <description>
+    URDF plugin to parse SDFormat XML into URDF C++ structures.
+  </description>
+
+  <author email="sloretz@openrobotics.org">Shane Loretz</author>
+  <maintainer email="sloretz@osrfoundation.org">Shane Loretz</maintainer>
+
+  <license>Apache 2.0</license>
+
+  <url type="repository">https://github.com/ros/sdformat_urdf</url>
+  <url type="bugtracker">https://github.com/ros/sdformat_urdf/issues</url>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_export_depend>ament_cmake_ros</buildtool_export_depend>
+
+  <build_export_depend>urdf</build_export_depend>
+
+  <build_depend>liburdfdom-headers-dev</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>resource_retriever</build_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>urdf_parser_plugin</build_depend>
+  <build_depend>resource_retriever</build_depend>
+
+  <exec_depend>resource_retriever</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>urdf_parser_plugin</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

sdformat_urdf_plugin.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<library path="sdformat_urdf_plugin">
+  <class name="sdformat_urdf_plugin/SDFormatURDFParser" type="sdformat_urdf::SDFormatURDFParser" base_class_type="urdf::URDFParser">
+    <description>
+      Parse models as URDF from SDFormat XML.
+    </description>
+  </class>
+</library>