-
Notifications
You must be signed in to change notification settings - Fork 91
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Merge sdf13 ➡️ main #1297
Merge sdf13 ➡️ main #1297
Conversation
`File.exists?` has been deprecated and is now removed in Ruby 3.2. https://github.com/ruby/ruby/blob/a528908271c678360d2d8ca232c178e7cdd340b4/NEWS.md?plain=1#L58 Signed-off-by: Vít Ondruch <vondruch@redhat.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Version v2 of the actions/checkout workflow is deprecated, so switch to v3. Part of gazebo-tooling/release-tools#862. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Merge sdf9 ➡️ sdf12
* 12.7.0~pre1 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update changelog Signed-off-by: Nate Koenig <nate@openrobotics.org> --------- Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
When parsing a URDF file, the `_source` parameter is set to "urdf file" which breaks relative path resolution downstream. This commit changes the call to `sdf::readDoc` to use `filename` as the `_source` parameter instead. Signed-off-by: Robert Plante <RobertDPlante@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
It seems quite hard to guarantee the same flow of the execution of SDF_ASSERT when using a FATAL_ERROR instead. Because of this, this PR reverts all previous SDF_ASSERT changes into FATAL_ERROR Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Bi0T1N <Bi0T1N@users.noreply.github.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Implements merge-includes for worlds as discussed in gazebosim/sdf_tutorials#86. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Version v2 of the actions/checkout workflow is deprecated, so switch to v3. Part of gazebo-tooling/release-tools#862. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Merge sdf12 ➡️ sdf13
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
The LICENSE file contained a copy of the stanze used at the top of source code files, while the actual license was in the COPYING file. So remove the stanza and put the actual Apache 2.0 license text in LICENSE. Similar to gazebosim/gz-math#521. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Merge sdf9 ➡️ sdf12
Merge sdf12 ➡️ sdf13
Signed-off-by: tejalbarnwal <tejalbarnwal@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
This is an update for the class `Element` making the calls use sdf::Errors whenever possible to avoid unwanted console outputs. Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
* Adding tests that catch warnings when urdf have no inertia element, or if mass is too small Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Promote link inertia and mass related urdf2sdf sdfdbg to sdfwarn with more verbose messages Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added flag for converting urdf links with small or no mass to frames Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Converts urdf links with small or no mass to frames, added tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Adding warning when conversion happens, added tests for small masses, being explicit about epsilon in equal Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix cpplint errors Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Adding integration test Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use camelCase Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added URDFMinimumAllowedLinkMass Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix tests expecting warnings when converting to frames Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Adding inline contains and notContains to test_utils Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using RedirectConsoleStream and ScopeExit Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor to use Root::LoadSdfString Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removing debug message when converted frame is from a root link Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added attached_to for frames during conversion, using < instead of math::equals Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update brief of URDFSetConvertLinkWithNoMassToFrame to mention case of no inertial frame Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove stale commentted code Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update comment about the errors we are expecting Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Convert to frame by default, remove minimal mass option, refactor implementation to handle lumping, modified unit tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Only convert to frame when parent joint is fixed, attaches and transforms pose to parent link, leaves out the fixed joint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Rephrased conversion error, modified unit tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * prints zero mass errors as well when conversion to frame fails Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * integration tests that mimic the unit tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added integration test with valid and invalid use of force torque sensor where massless child links occur Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix joint reduction logic, more specific error messages, more targeted unit tests for each case Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Convert joints to frames when converting links, attach them to converted links Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Integration tests with child fixed links as well Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Change sdferr to sdfwarn, no way to use ParserConfig::WarningsPolicy for now Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * sdferr to sdfwarn for the case where conversion to frame is attempted Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removing case within converting to frame, where parent joint turns into revolute joint, that is not covered Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduced scope of implementation, more specific warning messages Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove mention of parser config in warning, since that is not typically used by workflows Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Integration tests revisited and modified, removed printouts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Test case showing ParserConfig::URDFSetPreserveFixedJoint(true) overrides gazebo tags for joint lumping, warnings with more information and placeholder url Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use sdf::testing::contains instead of local contains functions in testing (#1251) Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove unused InitSDF, added TODO for warning when joints are converted/dropped Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Cleaned up if else cases Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using << operator of Errors Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Replacing placeholder url with expected URL for the documentation from sdf_tutorials#88 Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * URL to tutorial as a constant, removing checking URL from test, just in case links change, we are not testing for that anyway Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactored fixed child joint logic as it is never reached Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduce number of if statements, renaming to only check if parent joint is reduced Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org>
need to update the target branch to |
there are linking errors in CI |
sdf/CMakeLists.txt
Outdated
WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}/sdf" | ||
OUTPUT_FILE "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc" | ||
) | ||
endif() |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
these RUBY
changes should not be merged forward
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Tried it out, please check if it makes sense
Codecov Report
@@ Coverage Diff @@
## main #1297 +/- ##
==========================================
+ Coverage 87.21% 87.60% +0.39%
==========================================
Files 126 128 +2
Lines 16304 16830 +526
==========================================
+ Hits 14219 14744 +525
- Misses 2085 2086 +1
|
b41123b
to
25d793e
Compare
Squashed them to the main merge commit only |
DCO is failing for older commits, is it okay to set it pass manually or should I add my signature on previous commits? |
I reviewed the DCO issues and set it to pass manually because it was an issue with email matching |
sdf/CMakeLists.txt
Outdated
@@ -20,12 +20,13 @@ endif() | |||
# descriptions in a map of strings. The parser.cc file uses EmbeddedSdf.hh. | |||
execute_process( | |||
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/sdf/embedSdf.py | |||
--output-file "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc" | |||
WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}/sdf" | |||
OUTPUT_FILE "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc" |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I think this OUTPUT_FILE
line needs to be removed, since we are passing --output-file
. I think this is causing the windows build failure
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I think you removed the wrong line in your force-push to 5fbe349 (comparison https://github.com/gazebosim/sdformat/compare/25d793e8149cffb8d5c05b526a31fa030943e952..5fbe349793af470b359972c2d0e4e9be5435224d)
I think the --output-file "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc"
line should remain but the OUTPUT_FILE "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc"
line should be removed
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
My bad, should be correct now
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Yes, that line looks good now!
25d793e
to
5fbe349
Compare
Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
5fbe349
to
cfe1f20
Compare
There is still something wrong in the Windows build with lots of tests failing with an error message about converting between versions:
This seems related to the embed script behavior that was changed in #1240. I also see some compiler warnings from the generated EmbeddedSdf.cc file:
I copied this file from the Jenkins file and see the following on the mentioned lines:
and
This looks like a problem with the path separator. Glancing through the changes in #1240, I see that the get_map_content method used PurePosixPath to force use of |
Thanks for taking a look! Should I work on adding/reverting that PR or needs to be discussed during the weekly? |
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
I've attempted a fix in 91b7265 |
seems to be working. I'll defer to @azeey or @mjcarroll for a review on 91b7265 |
Looks good to me. @mjcarroll was there a reason for removing the |
Not for any reason that I recall at this point. |
➡️ Forward port
Port sdf13 to main
Branch comparison: main...sdf13
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)
Need help with resolving
sdf/embedSdf.py
, seems like the file was first added to main and backported to sdf13, but still there are some changes in functions, seefor comparison. Currently, this PR has the
main
version.CC: @jasmeet0915