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Build with new master of urdfdom (after they switched to tinyxml2) #84

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Build with new master of urdfdom (after they switched to tinyxml2) #84

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33b47a5
build with new master of urdfdom (after they switched to tinyxml2)
moooeeeep Dec 8, 2023
1c69968
Include tinyxml2 header.
skasperski Dec 13, 2023
09b6ba1
Merge pull request #1 from skasperski/build_with_tinyxml2
moooeeeep Dec 13, 2023
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1 change: 1 addition & 0 deletions bin/joint_limits_from_urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
#include <tools/URDFTools.hpp>
#include <base/JointLimits.hpp>
#include <boost/program_options.hpp>
#include <iostream>

using namespace wbc;
using namespace std;
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5 changes: 3 additions & 2 deletions src/robot_models/hyrodyn/RobotModelHyrodyn.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
#include "RobotModelHyrodyn.hpp"
#include <base-logging/Logging.hpp>
#include <urdf_parser/urdf_parser.h>
#include <tinyxml2.h>
#include <tools/URDFTools.hpp>

namespace wbc{
Expand Down Expand Up @@ -46,9 +47,9 @@ bool RobotModelHyrodyn::configure(const RobotModelConfig& cfg){
// Read Joint Limits
URDFTools::jointLimitsFromURDF(robot_urdf, joint_limits);

TiXmlDocument *doc = urdf::exportURDF(robot_urdf);
auto *doc = urdf::exportURDF(robot_urdf);
std::string robot_urdf_file = "/tmp/floating_base_model.urdf";
doc->SaveFile(robot_urdf_file);
doc->SaveFile(robot_urdf_file.c_str());
try{
hyrodyn.load_robotmodel(robot_urdf_file, cfg.submechanism_file);
}
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5 changes: 3 additions & 2 deletions src/robot_models/rbdl/RobotModelRBDL.cpp
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Expand Up @@ -3,6 +3,7 @@
#include <rbdl/rbdl_utils.h>
#include <rbdl/addons/urdfreader/urdfreader.h>
#include <base-logging/Logging.hpp>
#include <tinyxml2.h>

using namespace RigidBodyDynamics;

Expand Down Expand Up @@ -49,9 +50,9 @@ bool RobotModelRBDL::configure(const RobotModelConfig& cfg){
if(l.second->inertial)
l.second->inertial->origin.rotation.setFromRPY(0,0,0);
}
TiXmlDocument *doc = urdf::exportURDF(robot_urdf);
auto *doc = urdf::exportURDF(robot_urdf);
std::string robot_urdf_file = "/tmp/robot.urdf";
doc->SaveFile(robot_urdf_file);
doc->SaveFile(robot_urdf_file.c_str());

if(!Addons::URDFReadFromFile(robot_urdf_file.c_str(), rbdl_model.get(), cfg.floating_base)){
LOG_ERROR_S << "Unable to parse urdf from file " << robot_urdf_file << std::endl;
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2 changes: 1 addition & 1 deletion src/tools/CMakeLists.txt
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Expand Up @@ -6,7 +6,7 @@ file(GLOB SOURCES RELATIVE ${PROJECT_SOURCE_DIR}/src/types "*.cpp")
pkg_search_module(base-types REQUIRED IMPORTED_TARGET base-types)
pkg_search_module(base-logging REQUIRED IMPORTED_TARGET base-logging)
pkg_search_module(urdfdom REQUIRED IMPORTED_TARGET urdfdom)
pkg_search_module(tinyxml REQUIRED IMPORTED_TARGET tinyxml)
pkg_search_module(tinyxml REQUIRED IMPORTED_TARGET tinyxml2)
pkg_search_module(eigen3 REQUIRED IMPORTED_TARGET eigen3)

list(APPEND PKGCONFIG_REQUIRES base-types)
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6 changes: 4 additions & 2 deletions src/tools/URDFTools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@
#include <base/JointLimits.hpp>
#include <base-logging/Logging.hpp>
#include <urdf_model/link.h>
#include <tinyxml2.h>
#include <stack>
#include <iostream>

namespace wbc {

Expand Down Expand Up @@ -123,8 +125,8 @@ std::vector<std::string> URDFTools::addFloatingBaseToURDF(urdf::ModelInterfaceSh

std::vector<std::string> floating_base_names = {"floating_base_trans_x", "floating_base_trans_y", "floating_base_trans_z",
"floating_base_rot_x", "floating_base_rot_y", "floating_base_rot_z"};
TiXmlDocument *doc = urdf::exportURDF(robot_urdf);
TiXmlPrinter printer;
auto *doc = urdf::exportURDF(robot_urdf);
tinyxml2::XMLPrinter printer;
doc->Accept(&printer);
std::string robot_xml_string = printer.CStr();
robot_xml_string.erase(robot_xml_string.find("</robot>"), std::string("</robot>").length());
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