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update backward compatibility on visual and collisions #47

Merged
merged 8 commits into from
Mar 11, 2020
Merged

update backward compatibility on visual and collisions #47

merged 8 commits into from
Mar 11, 2020

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k-okada
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@k-okada k-okada commented May 1, 2019

On indigo, to set visual and collisions on links, we write

        robot = urdf.Robot(name = 'test')
        link = urdf.Link(name = 'link',
                         visual = urdf.Visual(geometry = urdf.Cylinder(length = 1, radius = 1),
                                              material = urdf.Material(name = 'mat')))
        robot.add_link(link)

or

        robot = urdf.Robot(name = 'test')
        link = urdf.Link(name = 'link')
        link.visual = urdf.Visual(geometry = urdf.Cylinder(length = 1, radius = 1),
                                  material = urdf.Material(name = 'mat'))
        robot.add_link(link)

However, since melodic both method did not work well when we write URDF strings from these data as reported on #45. It only outputs <robot> and <link> tag without <visual> and <collision>.
And , to output <visual> and <collision> in URDF, we have to write

        robot = urdf.Robot(name = 'test')
        link = urdf.Link(name = 'link')
        link.add_aggregate('visual', urdf.Visual(geometry = urdf.Cylinder(length = 1, radius = 1),
                                                 material = urdf.Material(name = 'mat')))
        robot.add_link(link)

, but this is not work on Indigo machine.

This PR enable melodic users to continue using indigo-style code.

@k-okada
add test to build robot model from python urdf classes
64f292c
@k-okada
add more tests on python urdf build
34f130c
@k-okada
update backward compatibility
f0bc470 
Link(visual=...) does not set <visual> on <link> since 0.4.0, breaks backward compatibility
k-okada added a commit to gundam-global-challenge/gundam_robot that referenced this pull request May 1, 2019
@k-okada
quick hack for urdfdom_py 0.4.0
e0c6eb7 
 Once ros/urdf_parser_py#47 is merged, we can remove this block
This was referenced Jul 12, 2019
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@traversaro
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Hi @clalancette @sloretz , let us know if there is anything we can do to help in merging this PR, thanks!

@traversaro traversaro mentioned this pull request Aug 22, 2019
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clalancette
clalancette reviewed Feb 10, 2020
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This looks generally OK to me. @k-okada can you please rebase?

@sloretz
Merge remote-tracking branch 'upstream/melodic-devel' into melodic-devel
b26f1e1
@sloretz
Robot accepts version kwarg
977fb1e 
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
@sloretz
kwarg ' = ' -> '='
c4eda83 
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
@sloretz
collision = Collision( not Visual(
a99c763 
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
@sloretz
Undo whitespace change
1b65603 
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
@sloretz sloretz requested a review from clalancette March 9, 2020 23:26
@sloretz
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sloretz commented Mar 9, 2020

This looks generally OK to me. @k-okada can you please rebase?

Brought up to date and made a few fixes for the version attribute.

@sloretz sloretz mentioned this pull request Mar 9, 2020
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@clalancette clalancette merged commit 4378f06 into ros:melodic-devel Mar 11, 2020
AdrianZw pushed a commit to AdrianZw/urdf_parser_py that referenced this pull request Jul 11, 2023
@k-okada @sloretz @AdrianZw
update backward compatibility on visual and collisions (ros#47)
a67c4a7 
* add test to build robot model from python urdf classes

* add more tests on python urdf build

* update backward compatibility

Link(visual=...) does not set <visual> on <link> since 0.4.0, breaks backward compatibility

* Robot accepts version kwarg

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Co-authored-by: Shane Loretz <sloretz@osrfoundation.org>
@AdrianZw AdrianZw mentioned this pull request Jul 11, 2023
Open
AdrianZw pushed a commit to AdrianZw/urdf_parser_py that referenced this pull request Jul 11, 2023
@k-okada @sloretz @AdrianZw
update backward compatibility on visual and collisions (ros#47)
a3258ee 
* add test to build robot model from python urdf classes

* add more tests on python urdf build

* update backward compatibility

Link(visual=...) does not set <visual> on <link> since 0.4.0, breaks backward compatibility

* Robot accepts version kwarg

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Co-authored-by: Shane Loretz <sloretz@osrfoundation.org>
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@sloretz sloretz sloretz approved these changes

@traversaro traversaro traversaro approved these changes

@clalancette clalancette clalancette approved these changes

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@k-okada @traversaro @sloretz @clalancette