Fix collisions_updater CLI if no package is used #2344
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The exceptions introduced with moveit#2032 prevented from running the collisions updater CLI without a ROS package. This fix makes ROS packages optional again, allowing to use the CLI with absolute paths only.
henningkayser
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henningkayser
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Sep 6, 2023
| throw std::runtime_error("URDF/COLLADA file not found: " + urdf_path_.string()); | ||
| } | ||
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| if (urdf_pkg_name_.empty()) |
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This exception should not be triggered if we actually don't provide a file path outside of a ROS package. That's why I moved it to loadFromPackage() above.
| } | ||
| // Check that ROS can find the package | ||
| const std::filesystem::path robot_desc_pkg_path = getSharePath(urdf_pkg_name_); | ||
| // Reset to defaults: no package name, relative path is set to absolute path |
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These changes silence the warning if there is no package name associated with the file.
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Changes look good -- thanks for this!
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #2344 +/- ##
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- Coverage 50.75% 50.74% -0.00%
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Files 386 386
Lines 31958 31963 +5
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+ Hits 16216 16217 +1
- Misses 15742 15746 +4
☔ View full report in Codecov by Sentry. |
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* Fix collisions_updater CLI if no package is used The exceptions introduced with #2032 prevented from running the collisions updater CLI without a ROS package. This fix makes ROS packages optional again, allowing to use the CLI with absolute paths only. * Improve warn message wording (cherry picked from commit 16ac53c)
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) * Fix collisions_updater CLI if no package is used The exceptions introduced with #2032 prevented from running the collisions updater CLI without a ROS package. This fix makes ROS packages optional again, allowing to use the CLI with absolute paths only. * Improve warn message wording (cherry picked from commit 16ac53c) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
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The exceptions introduced with #2032 broke support for running the collisions updater CLI without a ROS package. This fix makes ROS packages optional again, allowing to use the CLI with absolute paths only.
Fixes #2338