Deprecate treeFromXml

[rotu]

Clears the way for #7 in Foxy+1

[clalancette]

Looks good to me with green CI (don't forget to build and test robot_state_publisher as well). @sloretz any thoughts here?

[rotu]

Looks good to me with green CI

CI seems to have autorun and failed: http://build.ros2.org/job/Fpr__kdl_parser__ubuntu_focal_amd64/2/ I'm guessing because it's looking for unreleased binaries. Ran CI manually:

• Linux
• Linux-aarch64
• macOS
• Windows

(don't forget to build and test robot_state_publisher as well).

robot_state_publisher doesn't use treeFromXml. Did I miss something?

[sloretz]

@rotu restarted CI testing only packages above kdl_parser. We're a bit tight on CI capacity right now; so please make sure to use build and test args to limit the time a job takes when possible.

• Linux
• Linux-aarch64
• macOS <- edit Looks like mini1 needs PyQT5, will restart this job in a bit
  • rerun:
• Windows
  Triggering a new build of ci_windows

[clalancette]

robot_state_publisher doesn't use treeFromXml. Did I miss something?

No, but it is the only in-tree user of kdl_parser, and it is cheap to test. So we may as well test that things are still good there.

[rotu]

@sloretz I don't know what I'm doing! Thank you for covering for me.

[clalancette]

@ros-pull-request-builder retest this please

[clalancette]

@rotu So we are still getting a warning in CI about using a deprecated method: https://ci.ros2.org/job/ci_linux/10766/gcc/new/. The problem is that kdl_parser::initXml is calling urdf::Model::initXml, which we've deprecated in ros2/urdf#12. Two thoughts on how to fix this:

1. Add pragmas to disable deprecation warnings when we #include urdf headers. Probably a bit tricky amongst all platforms, but doable.
2. Change the implementation of kdl_parser::initXml to convert the TiXmlDocument to a string, then call urdf::Model::initString. This will hurt performance, but since our conjecture here is that nobody is using this API, that shouldn't matter too much.

I'd personally go for the second, but I'll leave it up to you how to fix it.

[clalancette]

Looking good assuming we get green CI.

[clalancette]

For future reference, CI for this was in ros2/rviz#531 (comment)