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Update URDF parser to use Tesseract XML namespace #1081

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Update URDF parser to use Tesseract XML namespace #1081

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59f87f7
Removed URDF parser tesseract version; added variables for element na…
marip8 Dec 13, 2024
66bc3fb
Updated unit tests
marip8 Dec 13, 2024
6cf1f12
Added NOLINT to URDF element string name definitions
marip8 Dec 14, 2024
c7ab162
Removed convex mesh; added global `tesseract:make_convex` attribute; …
marip8 Jan 11, 2025
f7b1f72
Moved URDF element name definitions to source files
marip8 Jan 11, 2025
cea27d1
Fixed throw of exception in mesh parsing
marip8 Jan 12, 2025
43ccf6d
Updated unit tests
marip8 Jan 12, 2025
a9f3a45
Added make_convex global parameter for IIWA environment to satisfy un…
marip8 Jan 12, 2025
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2 changes: 1 addition & 1 deletion tesseract_support/urdf/lbr_iiwa_14_r820.urdf
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Expand Up @@ -3,7 +3,7 @@
<!-- | This document was autogenerated by xacro from lbr_iiwa_14_r820.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro">
<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
<!-- link list -->
<link name="base_link">
<visual>
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2 changes: 1 addition & 1 deletion tesseract_support/urdf/lbr_iiwa_14_r820.xacro
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@@ -1,5 +1,5 @@
<?xml version="1.0" ?>
<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro">
<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
<xacro:include filename="$(find tesseract_support)/urdf/lbr_iiwa_14_r820_macro.xacro"/>
<xacro:kuka_lbr_iiwa_14_r820 prefix=""/>
</robot>
1 change: 0 additions & 1 deletion tesseract_urdf/CMakeLists.txt
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Expand Up @@ -50,7 +50,6 @@ add_library(
src/capsule.cpp
src/collision.cpp
src/cone.cpp
src/convex_mesh.cpp
src/cylinder.cpp
src/dynamics.cpp
src/geometry.cpp
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/box.h
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Expand Up @@ -41,12 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* BOX_ELEMENT_NAME;
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@Levi-Armstrong this seems to be a problem for windows. Do you know how to handle this for windows? If I don't make it extern, then I get the compiler unused-variable error

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Why are these needed?

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@Levi-Armstrong Levi-Armstrong Jan 12, 2025 •
edited
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I would recommend creating a single header like constants.h and leveraging constexpr std::string_view BOX_ELEMENT_NAME = "box";


/**
* @brief Parse a xml box element
* @param xml_element The xml element
* @return Tesseract Geometry Box
*/
std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeBox(const std::shared_ptr<const tesseract_geometry::Box>& box, tinyxml2::XMLDocument& doc);

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5 changes: 3 additions & 2 deletions tesseract_urdf/include/tesseract_urdf/calibration.h
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Expand Up @@ -41,13 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* CALIBRATION_ELEMENT_NAME;

/**
* @brief Parse a xml calibration element
* @param xml_element The xml element
* @return Tesseract JointCalibration
*/
std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element,
int version);
std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement*
writeCalibration(const std::shared_ptr<const tesseract_scene_graph::JointCalibration>& calibration,
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/capsule.h
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Expand Up @@ -41,12 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* CAPSULE_ELEMENT_NAME;

/**
* @brief Parse a xml capsule element
* @param xml_element The xml element
* @return Tesseract Geometry Capsule
*/
std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeCapsule(const std::shared_ptr<const tesseract_geometry::Capsule>& capsule,
tinyxml2::XMLDocument& doc);
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6 changes: 4 additions & 2 deletions tesseract_urdf/include/tesseract_urdf/collision.h
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Expand Up @@ -43,16 +43,18 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* COLLISION_ELEMENT_NAME;

/**
* @brief Parse xml element collision
* @param xml_element The xml element
* @param locator The Tesseract resource locator
* @param version The version number
* @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
* @return A Collision object
*/
std::shared_ptr<tesseract_scene_graph::Collision> parseCollision(const tinyxml2::XMLElement* xml_element,
const tesseract_common::ResourceLocator& locator,
int version);
bool make_convex_meshes);

/**
* @brief writeCollision Write collision object to URDF XML
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/cone.h
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Expand Up @@ -41,12 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* CONE_ELEMENT_NAME;

/**
* @brief Parse a xml cone element
* @param xml_element The xml element
* @return Tesseract Geometry Cone
*/
std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeCone(const std::shared_ptr<const tesseract_geometry::Cone>& cone,
tinyxml2::XMLDocument& doc);
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77 changes: 0 additions & 77 deletions tesseract_urdf/include/tesseract_urdf/convex_mesh.h
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This file was deleted.

4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/cylinder.h
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Expand Up @@ -41,12 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* CYLINDER_ELEMENT_NAME;

/**
* @brief Parse a xml cylinder element
* @param xml_element The xml element
* @return Tesseract Geometry Cylinder
*/
std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeCylinder(const std::shared_ptr<const tesseract_geometry::Cylinder>& cylinder,
tinyxml2::XMLDocument& doc);
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5 changes: 3 additions & 2 deletions tesseract_urdf/include/tesseract_urdf/dynamics.h
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Expand Up @@ -41,13 +41,14 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* DYNAMICS_ELEMENT_NAME;

/**
* @brief Parse a xml dynamics element
* @param xml_element The xml element
* @return Tesseract JointDynamics
*/
std::shared_ptr<tesseract_scene_graph::JointDynamics> parseDynamics(const tinyxml2::XMLElement* xml_element,
int version);
std::shared_ptr<tesseract_scene_graph::JointDynamics> parseDynamics(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeDynamics(const std::shared_ptr<const tesseract_scene_graph::JointDynamics>& dynamics,
tinyxml2::XMLDocument& doc);
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6 changes: 4 additions & 2 deletions tesseract_urdf/include/tesseract_urdf/geometry.h
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Expand Up @@ -43,18 +43,20 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* GEOMETRY_ELEMENT_NAME;

/**
* @brief Parse xml element geometry
* @param xml_element The xml element
* @param locator The Tesseract resource locator
* @param visual Indicate if visual
* @param version The version number
* @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
* @return A Tesseract Geometry
*/
std::shared_ptr<tesseract_geometry::Geometry> parseGeometry(const tinyxml2::XMLElement* xml_element,
const tesseract_common::ResourceLocator& locator,
bool visual,
int version);
bool make_convex_meshes);

/**
* @brief writeGeometry Write geometry to URDF XML
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/inertial.h
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Expand Up @@ -41,13 +41,15 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* INERTIAL_ELEMENT_NAME;

/**
* @brief Parse xml element inertial
* @param xml_element The xml element
* @param version The version number
* @return A Tesseract Inertial
*/
std::shared_ptr<tesseract_scene_graph::Inertial> parseInertial(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_scene_graph::Inertial> parseInertial(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeInertial(const std::shared_ptr<const tesseract_scene_graph::Inertial>& inertial,
tinyxml2::XMLDocument& doc);
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/joint.h
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Expand Up @@ -41,13 +41,15 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* JOINT_ELEMENT_NAME;

/**
* @brief Parse xml element joint
* @param xml_element The xml element
* @param version The version number
* @return A Tesseract Joint
*/
std::shared_ptr<tesseract_scene_graph::Joint> parseJoint(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_scene_graph::Joint> parseJoint(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeJoint(const std::shared_ptr<const tesseract_scene_graph::Joint>& joint,
tinyxml2::XMLDocument& doc);
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/limits.h
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Expand Up @@ -41,13 +41,15 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* LIMITS_ELEMENT_NAME;

/**
* @brief Parse xml element limits
* @param xml_element The xml element
* @param version The version number
* @return A Tesseract JointLimits
*/
std::shared_ptr<tesseract_scene_graph::JointLimits> parseLimits(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_scene_graph::JointLimits> parseLimits(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeLimits(const std::shared_ptr<const tesseract_scene_graph::JointLimits>& limits,
tinyxml2::XMLDocument& doc);
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8 changes: 5 additions & 3 deletions tesseract_urdf/include/tesseract_urdf/link.h
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Expand Up @@ -43,19 +43,21 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* LINK_ELEMENT_NAME;

/**
* @brief Parse xml element link
* @param xml_element The xml element
* @param locator The Tesseract resource locator
* @param available_materials The current available materials
* @param version The version number
* @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
* @return A Tesseract Link
*/
std::shared_ptr<tesseract_scene_graph::Link>
parseLink(const tinyxml2::XMLElement* xml_element,
const tesseract_common::ResourceLocator& locator,
std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials,
int version);
bool make_convex_meshes,
std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials);

/**
* @brief writeLink Write a link to URDF XML
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5 changes: 3 additions & 2 deletions tesseract_urdf/include/tesseract_urdf/material.h
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Expand Up @@ -42,6 +42,8 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* MATERIAL_ELEMENT_NAME;

/**
* @brief Parse xml element material
* @param xml_element The xml element
Expand All @@ -53,8 +55,7 @@ namespace tesseract_urdf
std::shared_ptr<tesseract_scene_graph::Material>
parseMaterial(const tinyxml2::XMLElement* xml_element,
std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials,
bool allow_anonymous,
int version);
bool allow_anonymous);

tinyxml2::XMLElement* writeMaterial(const std::shared_ptr<const tesseract_scene_graph::Material>& material,
tinyxml2::XMLDocument& doc);
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13 changes: 8 additions & 5 deletions tesseract_urdf/include/tesseract_urdf/mesh.h
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Expand Up @@ -43,18 +43,21 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* MESH_ELEMENT_NAME;

/**
* @brief Parse xml element mesh
* @param xml_element The xml element
* @param locator The Tesseract resource locator
* @param visual Indicate if visual
* @param version The version number
* @param make_convex Flag to indicate if the mesh should be converted to a convex hull
* @return A vector of Tesseract Meshes
*/
std::vector<std::shared_ptr<tesseract_geometry::Mesh>> parseMesh(const tinyxml2::XMLElement* xml_element,
const tesseract_common::ResourceLocator& locator,
bool visual,
int version);
std::vector<std::shared_ptr<tesseract_geometry::PolygonMesh>>
parseMesh(const tinyxml2::XMLElement* xml_element,
const tesseract_common::ResourceLocator& locator,
bool visual,
bool make_convex);

/**
* @brief writeMesh Write a mesh to URDF XML and PLY file
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4 changes: 3 additions & 1 deletion tesseract_urdf/include/tesseract_urdf/mimic.h
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Expand Up @@ -41,13 +41,15 @@ class XMLDocument;

namespace tesseract_urdf
{
extern const char* MIMIC_ELEMENT_NAME;

/**
* @brief Parse xml element mimic
* @param xml_element The xml element
* @param version The version number
* @return A Tesseract JointMimic
*/
std::shared_ptr<tesseract_scene_graph::JointMimic> parseMimic(const tinyxml2::XMLElement* xml_element, int version);
std::shared_ptr<tesseract_scene_graph::JointMimic> parseMimic(const tinyxml2::XMLElement* xml_element);

tinyxml2::XMLElement* writeMimic(const std::shared_ptr<const tesseract_scene_graph::JointMimic>& mimic,
tinyxml2::XMLDocument& doc);
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