Fix bug where included URDFs are not parsed when there are no custom …

…parsers (gazebosim#562) gazebosim#475 introduced a regression where included URDFs were being silently ignored when there are no custom parsers available. This returns the behavior back to URDFs being parsed natively by SDFormat if there are no custom parsers. Signed-off-by: Addisu Z. Taddese <[email protected]>
scpeters · May 5, 2021 · e5ca000 · e5ca000
1 parent bed1589
commit e5ca000
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Showing 4 changed files with 61 additions and 1 deletion.
diff --git a/src/parser.cc b/src/parser.cc
@@ -1156,7 +1156,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
  // If the file is not an SDFormat file, it is assumed that it will
  // handled by a custom parser, so fall through and add the include
  // element into _sdf.
- if (sdf::isSdfFile(filename))
+ if (sdf::isSdfFile(filename) || _config.CustomModelParsers().empty())
  {
  // NOTE: sdf::init is an expensive call. For performance reason,
  // a new sdf pointer is created here by cloning a fresh sdf template

diff --git a/test/integration/includes.cc b/test/integration/includes.cc
@@ -361,3 +361,30 @@ TEST(IncludesTest, IncludeModelMissingConfig)
 
  EXPECT_EQ(nullptr, root.Model());
 }
+
+//////////////////////////////////////////////////
+/// Check that sdformat natively parses URDF files when there are no custom
+/// parsers
+TEST(IncludesTest, IncludeUrdf)
+{
+ sdf::setFindCallback(findFileCb);
+
+ std::ostringstream stream;
+ stream
+ << "<sdf version='" << SDF_VERSION << "'>"
+ << "<include>"
+ << " <uri>test_include_urdf</uri>"
+ << "</include>"
+ << "</sdf>";
+
+ sdf::Root root;
+ sdf::Errors errors = root.LoadSdfString(stream.str());
+ ASSERT_TRUE(errors.empty()) << errors;
+
+ auto model = root.Model();
+ ASSERT_NE(nullptr, model);
+ EXPECT_EQ("test_include_urdf", model->Name());
+ EXPECT_EQ(2u, model->LinkCount());
+ EXPECT_EQ(1u, model->JointCount());
+}
+
diff --git a/test/integration/model/test_include_urdf/model.config b/test/integration/model/test_include_urdf/model.config
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+
+<model>
+ <name>test_include_urdf</name>
+ <sdf version="1.6">model.urdf</sdf>
+</model>
diff --git a/test/integration/model/test_include_urdf/model.urdf b/test/integration/model/test_include_urdf/model.urdf
@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<robot name="test_include_urdf">
+
+ <link name="base_link">
+ <inertial>
+ <mass value="1"/>
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+ </inertial>
+ </link>
+
+ <joint name="joint_1" type="revolute">
+ <parent link="base_link"/>
+ <child link="link_1"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="1" lower="-1" upper="1" velocity="1"/>
+ </joint>
+
+ <link name="link_1">
+ <inertial>
+ <mass value="1"/>
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+ </inertial>
+ </link>
+
+</robot>
+
+