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Add support for quaternion in URDF #194

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Add support for quaternion in URDF #194

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2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
<exec_depend>libconsole-bridge-dev</exec_depend>
<exec_depend>tinyxml2</exec_depend>
<exec_depend>tinyxml2_vendor</exec_depend>
<exec_depend version_gte="0.2.3">urdfdom_headers</exec_depend>
<exec_depend version_gte="1.2.0">urdfdom_headers</exec_depend>

<test_depend>python3</test_depend>

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18 changes: 18 additions & 0 deletions urdf_parser/src/pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,13 @@ bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
}

const char* rpy_str = xml->Attribute("rpy");
const char* quat_str = xml->Attribute("quat_xyzw");
if (rpy_str != NULL && quat_str != NULL)
{
CONSOLE_BRIDGE_logError("Both rpy and quat_xyzw orientations are defined. Use either one or the other.");
return false;
}

if (rpy_str != NULL)
{
try {
Expand All @@ -117,6 +124,17 @@ bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
return false;
}
}

if (quat_str != NULL)
{
try {
pose.rotation.initQuaternion(quat_str);
}
catch (ParseError &e) {
CONSOLE_BRIDGE_logError(e.what());
return false;
}
}
}
return true;
}
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1 change: 1 addition & 0 deletions xsd/urdf.xsd
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Expand Up @@ -17,6 +17,7 @@
<xs:complexType name="pose">
<xs:attribute name="xyz" type="xs:string" default="0 0 0" />
<xs:attribute name="rpy" type="xs:string" default="0 0 0" />
<xs:attribute name="quat_xyzw" type="xs:string" default="0 0 0 1" />
</xs:complexType>

<!-- pose node type -->
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