Adding _config to readFile call

[aaronchongth]

Signed-off-by: Aaron Chong aaronchongth@gmail.com

🦟 Bug fix

Related to RobotLocomotion/drake#15948, fixes RobotLocomotion/drake#15948 (comment) specifically.

Summary

This single line fix, fixes the problem mentioned here RobotLocomotion/drake#15948 (comment), after testing with a local copy of sdformat by adding local_repository_override to drake/tools/workspace/sdformat/repository,bzl

• @azeey found the bug where ParserConfigs are not passed down into nested readFile calls
• I tried writing tests here, but the tests still pass without issue 🤔, I am guessing the difference might be due to how drake manages model paths differently

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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.

[aaronchongth]

How to recreate the issue,

git clone https://github.com/aaronchongth/drake -b aaron/deprecate-model-directives
git clone https://gituhb.com/ignitionrobotics/sdformat -b 76298d1d9 # this is the commit before merging in sdf12, which breaks sdf_config.h

cd drake
bazel build multibody/parsing:process_model_directives_test
./bazel-bin/multibody/parsing/process_model_directives_test

To resolve the issue, modify drake/tools/workspace/sdformat/repository.bzl to have

local_repository_override = "path-to-sdformat-with-fix"

cd drake
bazel build multibody/parsing:process_model_directives_test
./bazel-bin/multibody/parsing/process_model_directives_test

[codecov-commenter]

Codecov Report

Merging #824 (356fc79) into sdf12 (c80d78d) will not change coverage.
The diff coverage is 100.00%.

❗ Current head 356fc79 differs from pull request most recent head e1ba3cf. Consider uploading reports for the commit e1ba3cf to get more accurate results

@@           Coverage Diff           @@
##            sdf12     #824   +/-   ##
=======================================
  Coverage   90.70%   90.70%           
=======================================
  Files          78       78           
  Lines       12438    12438           
=======================================
  Hits        11282    11282           
  Misses       1156     1156           

Impacted Files	Coverage Δ
src/parser.cc	87.48% <100.00%> (ø)

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[azeey]

The reason the test was passing is that sdf::readFile does not return false if it's unable to resolve a uri, instead it keeps on loading the rest of the file. The error is reported in the sdf::Errors object, but the errors are also lost due to the bug because they are simply printed to the console instead of being propagated to the initial call point. https://github.com/ignitionrobotics/sdformat/blob/3102de3265f3bea69d43e661b8c896896c363613/src/parser.cc#L655-L659

I have taken the liberty to add a slightly modified version of that test into this PR in 786480e. I put it in test/integration/parser_config.cc since it was referring to files in test/integration and it's testing the ParserConfig functionality.

Edit: Added comment about sdf::Errors object.

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1