fixes related to issue #47

simtrans/cli.py

@@ -184,7 +184,7 @@ def main():
         m = nm
 
     if len(m.links) == 0:
-        logging.error("cannot read links at all (probably the model refers to another model by <include> tag)")
+        logging.error("cannot read links at all (probably the model refers to another model by <include> tag or <link> tag contains no <inertial> or <visual> or <collision> item and reduced by simulation optimization process of gz command used inside simtrans)")
         return 1
 
     if meshoutput:

simtrans/urdf.py

@@ -69,7 +69,10 @@ def read(self, fname, assethandler=None, options=None):
 
     def read2(self, fname, assethandler=None, options=None):
         """Read URDF model data given the model file
-
+
+        ** [Deprecated] This function is currently broken but kept for historical reason **
+        ** (might be fixed if "gz sdf" command not work in some situation) **
+
         :param fname: path of the file to read
         :param assethandler: asset handler (optional)
         :returns: model data

simtrans/utils.py

@@ -25,6 +25,11 @@ def resolveFile(f):
     '''
     logger.debug('resolveFile from %s' % f)
     try:
+        if f.count('file://') > 0:
+            ff = os.path.expanduser(f.replace('file://', ''))
+            if os.path.exists(ff):
+                logger.debug('resolveFile resolved to %s' % ff)
+                return ff
         if f.count('model://') > 0:
             fn = f.replace('model://', '')
             paths = ['.', '~/.gazebo/models']