-
Notifications
You must be signed in to change notification settings - Fork 298
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Add Support for SDF #1763
base: master
Are you sure you want to change the base?
Add Support for SDF #1763
Conversation
Signed-off-by: Aarav Gupta <[email protected]>
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Can you please add a test with an example SDF here: https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/test/test_component_parser.cpp?
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1763 +/- ##
=======================================
Coverage 87.60% 87.61%
=======================================
Files 120 120
Lines 12223 12230 +7
Branches 1093 1093
=======================================
+ Hits 10708 10715 +7
Misses 1125 1125
Partials 390 390
Flags with carried forward coverage won't be shown. Click here to find out more.
|
Signed-off-by: Aarav Gupta <[email protected]>
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@Amronos The changes look good to me. Can you add that SDF parsing is also supported through robot_description topic in the release_notes.rst?.
Sorry for not pointing out earlier
Signed-off-by: Aarav Gupta <[email protected]>
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM
This is great! Thanks @Amronos |
Are there any updates on when this PR can be reviewed and merged? |
Maintainers were busy with big PRs being merged the last days. We have so many other (older) PRs waiting for reviews, you can speed up the process by also reviewing them. |
The test |
Do you have a non-standard URDF library installed? The CI errors come from this segment
located here https://github.com/ros-controls/ros2_control/pull/1763/files#diff-ae927ba56161377a082def3ca0417c1052c37949d94e27a7713e3f9f798e790eR853 Seems legit to me but I'm wondering how it worked for you :D |
I don't have a non-standard URDF library installed and the test is passing for me. |
I don't think so, it fails on debian, RHEL and ubuntu |
ros-controls/gz_ros2_control#427 should help in testing this PR. |
I've locally verified that the test fails because the |
Oh, that explains it. Thanks a lot @azeey! |
Signed-off-by: Aarav Gupta <[email protected]>
IIUC, the Source and Semi-Binary builds do not install dependencies based on the package.xml in the PR, but use a docker image built from the |
No. Debian Source build uses a handcrafted docker, I can add the package there. RHEL tries to install the deps, but
The package is deactivated on the buildfarm, please ping the maintainers to activate it. |
Fixes #632
I have modified
hardware_interface/src/component_parser.cpp
to add support for SDF models.To test this out the demos being added through ros-controls/gz_ros2_control#427 can be used.