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OS Version: tested on macOS 10.15 but I expect it's a problem on Ubuntu as well
Source or binary build? both source and binary for any version newer than 10.0.0
Description
While attempting to merge forward #500 from 9 -> 10 (follow-up to #741), I found that the test added in #500 was failing. The test passes on the sdf6 and sdf9 branches, which use tinyxml, but was failing in my first merge attempt to sdf10, which uses tinyxml2. I manually forward-ported a portion of the test for the ReduceSDFExtensionPluginFrameReplace function in parser_urdf.cc in #745 and noticed a problem in the use of the tinyxml2 API in all the ReduceSDFExtension*FrameReplace functions.
Expected behavior: ReduceSDFExtension*FrameReplace functions should take effect on blocks of SDFormat contained in links that are consolidated via fixed-joint reduction.
Actual behavior: These functions are not taking effect since the tinyxml2 migration occurred in Migrate to using TinyXML2 #264
Steps to reproduce
Add relevant SDFormat blocks to a test URDF like fixed_joint_reduction_plugin_frame_extension.urdf such that the name of the child link to be consolidated is listed in a bodyName field (for fixed_joint_reduction_plugin_frame_extension.urdf, this would be link2).
Convert the file to SDFormat using ign sdf -p
Expect the bodyName field to be changed to the name of the parent link (for fixed_joint_reduction_plugin_frame_extension.urdf, this would be base_link).
Environment
Description
While attempting to merge forward #500 from 9 -> 10 (follow-up to #741), I found that the test added in #500 was failing. The test passes on the
sdf6
andsdf9
branches, which usetinyxml
, but was failing in my first merge attempt tosdf10
, which usestinyxml2
. I manually forward-ported a portion of the test for theReduceSDFExtensionPluginFrameReplace
function inparser_urdf.cc
in #745 and noticed a problem in the use of the tinyxml2 API in all theReduceSDFExtension*FrameReplace
functions.ReduceSDFExtension*FrameReplace
functions should take effect on blocks of SDFormat contained in links that are consolidated via fixed-joint reduction.Steps to reproduce
bodyName
field (forfixed_joint_reduction_plugin_frame_extension.urdf
, this would belink2
).ign sdf -p
bodyName
field to be changed to the name of the parent link (forfixed_joint_reduction_plugin_frame_extension.urdf
, this would bebase_link
).Output
Functions that need a test and fix:
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