urdf: fix sensor/light pose for links lumped by fixed joints #1114
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Backported from #525. Signed-off-by: Steve Peters <[email protected]>
Add ReduceSDFExtensionElementTransformReduction with an extra std::string argument to replace ReduceSDFExtensionSensorTransformReduction and ReduceSDFExtensionProjectorTransformReduction. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Unless //pose/@relative_to is specified, in that case do nothing. Signed-off-by: Steve Peters <[email protected]>
Generalize the sensor test to apply to projector and light as well. Signed-off-by: Steve Peters <[email protected]>
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Codecov Report
@@ Coverage Diff @@
## sdf9 #1114 +/- ##
==========================================
+ Coverage 87.59% 87.75% +0.16%
==========================================
Files 64 64
Lines 10061 10055 -6
==========================================
+ Hits 8813 8824 +11
+ Misses 1248 1231 -17
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jennuine
approved these changes
Aug 23, 2022
Signed-off-by: Steve Peters <[email protected]>
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🦟 Bug fix
Fixes #378
Summary
The
parser_urdf.ccfile converts a URDF file to SDFormat. When converting a fixed joint, by default it merges the contents of the child link into the parent link. As noted in #378, the//sensor/poseis not properly adjusted during this merge process. This issue has already been fixed in newer branches by #525, so the test and that fix have been backported and refactored to reduce code duplication (about 30 lines removed from parser_urdf.cc) and also fix the treatment of//link/light/pose.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.