Revert "Verify that //joint/child cannot be __model__"

This reverts commit 09b6421. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Jan 28, 2022 · 2d16a82 · 2d16a82
1 parent 2ec9e98
commit 2d16a82
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Showing 3 changed files with 5 additions and 13 deletions.
diff --git a/src/FrameSemantics.cc b/src/FrameSemantics.cc
@@ -489,6 +489,9 @@ struct ModelWrapper : public WrapperBase
       }
       for (const auto &item : model->Joints())
       {
+        // TODO(azeey) In theory, the child could be "__model__" in which case,
+        // we'd have to use the proxy frame here, but not sure if "__model__" is
+        // allowed for //joint/child.
         this->joints.emplace_back(item);
       }
       if (nestedInclude->PlacementFrame().has_value())

diff --git a/test/integration/joint_dom.cc b/test/integration/joint_dom.cc
@@ -613,7 +613,7 @@ TEST(DOMJoint, LoadInvalidChild)
   for (auto e : errors)
     std::cout << e << std::endl;
   EXPECT_FALSE(errors.empty());
-  ASSERT_EQ(9u, errors.size());
+  EXPECT_EQ(8u, errors.size());
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::JOINT_CHILD_LINK_INVALID);
   EXPECT_NE(std::string::npos,
     errors[0].Message().find(
@@ -630,12 +630,6 @@ TEST(DOMJoint, LoadInvalidChild)
   // errors[5]
   // errors[6]
   // errors[7]
-  // errors[8]
-  EXPECT_NE(
-      std::string::npos,
-      errors[8].Message().find("child frame with name[__model__] specified by "
-                               "joint with name[joint2] not found in model "
-                               "with name[joint_invalid_child]"));
 }
 
 /////////////////////////////////////////////////

diff --git a/test/sdf/joint_invalid_child.sdf b/test/sdf/joint_invalid_child.sdf
@@ -1,18 +1,13 @@
 <?xml version="1.0" ?>
-<sdf version="1.9">
+<sdf version="1.6">
   <model name="joint_invalid_child">
     <link name="link">
       <pose>0 0 1 0 0 0</pose>
     </link>
-    <link name="link2"/>
     <joint name="joint" type="fixed">
       <pose>0 0 3 0 0 0</pose>
       <parent>link</parent>
       <child>invalid</child>
     </joint>
-    <joint name="joint2" type="fixed">
-      <parent>link2</parent>
-      <child>__model__</child>
-    </joint>
   </model>
 </sdf>