Cherry-pick #312, #316 to master #339
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…#312) * Normalize joint axis xyz vector when parsing from SDFormat Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## master #339 +/- ##
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- Coverage 87.59% 87.38% -0.22%
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Files 60 60
Lines 9215 9319 +104
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+ Hits 8072 8143 +71
- Misses 1143 1176 +33
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CI is happy after updating an expected console message in e2db237. I'll rebase and merge now |
Nested model elements (`//model/model`) are currently supported in the SDFormat 1.7 spec, but are not supported by the DOM API or frame semantics operations in libsdformat 9.2. Per Amendment 1 of the SDFormat 1.7 proposal (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#amendment-1-directly-nested-models), this PR adds support for nested models in the DOM API and frame semantics (fixing gazebosim#283) through three steps: * adding `Model::Model*` methods for accessing nested models via the DOM API (047ec96) * loading nested models in `Model::Load` (b57fea2, step 3 of model parsing stages (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#1-model)) * supporting nested models (`//model/model`) in frame semantics as opaque frames to match how models in the world scope (`//world/model`) are treated (85e0b4f, steps 6-9 of model parsing stages (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#1-model)) The first two steps are straightforward, while the 3rd step adds new behavior. This behavior is added to `libsdformat9` because it is compatible with the SDFormat 1.7 spec (which supports nested models) and makes the treatment of models more consistent with regard to frame semantics. In libsdformat 9.2.0, a `//world/model` supports frame semantics: they have frames that can be referenced by name with `//pose/@relative_to` and `//world/frame/@attached_to` values can resolve to a `//world/model`. This extends that same behavior to nested `//model/model` elements; they now have their own frames in the frame and pose graphs, and a `//model/frame` is permitted to attach to a model. This does not add support for referencing elements within a model via the `::` syntax in the frame semantics or DOM APIs. That will be added in SDFormat 1.8 (see gazebosim#293). An expected console message was updated in a test while merging forward to libsdformat11. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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CI is happy again; I'm going to rebase and merge |
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@scpeters This pull request seem to have introduced the following compiler warnings: https://build.osrfoundation.org/job/ignition_launch-ci-master-bionic-amd64/10/ [Discovered during osrf/buildfarmer#84] |
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This is a forward-port via cherry-pick of #312 and #316 from
sdf10. Use rebase and merge if CI is clean.