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urdf: fix test and clean up internals #1126
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The urdf_gazebo_extensions.urdf file had incorrect kinematics with link3 being the child of two different joints. This adds a link4 and converts joint13 to joint14. This also fixes some expectations about the implicit_spring_damper tags. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
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## sdf9 #1126 +/- ##
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Coverage 87.81% 87.81%
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Files 64 64
Lines 10099 10099
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Hits 8868 8868
Misses 1231 1231 Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. |
Remove some unused parameters, and make some const. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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LGTM. One silly question probably: why was necessary to rename the name joint13
to joint14
in the test/integration/urdf_gazebo_extensions.urdf
file?
the naming scheme in this file uses single digits for links and pairs of digits for the joints corresponding to the parent and child link. So the change of the joint name from |
🦟 Bug fix
Fixes incorrect kinematics in a URDF test file and updates test accordingly. Also clean up some internal parser functions.
Summary
The
urdf_gazebo_extensions.urdf
file had incorrect kinematics withlink3
being the child of two different joints. This adds alink4
and replacesjoint13
withjoint14
connectinglink1
tolink4
. This also fixes some expectations about theimplicit_spring_damper
tags.I also cleaned up some of the internals of
parser_urdf
in 90595c0:const
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.