Allowing relative paths in URDF #1213
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ahcorde
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Dec 15, 2022
Codecov Report
@@ Coverage Diff @@
## sdf9 #1213 +/- ##
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Coverage 88.35% 88.35%
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Files 63 63
Lines 10093 10093
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Hits 8918 8918
Misses 1175 1175
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Thanks for the contribution. Since this is a small change, would you mind setting the target branch to |
When parsing a URDF file, the `_source` parameter is set to "urdf file" which breaks relative path resolution downstream. This commit changes the call to `sdf::readDoc` to use `filename` as the `_source` parameter instead. Signed-off-by: Robert Plante <[email protected]>
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No problem. Rebased onto |
azeey
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Dec 16, 2022
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🦟 Bug fix
Summary
When parsing a URDF file, the
_sourceparameter is set to "urdf file" which breaks relative path resolution later on. This commit changes the call tosdf::readDocto usefilenameas the_sourceparameter instead.Additional Information
I came across this issue while testing out a physics plugin I am developing for PhysX 4.1 integration. Searching all repos pulled by colcon reveals no other uses of the phrase "urdf file" as a special case. Testing has revealed no new issues.