Fix URDF fixed joint reduction of SDF joints#1089
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This adds a test case for a URDF with a chain of links with fixed joint reduction and an SDFormat joint embedded in a <gazebo> block whose parent link is one of the reduced links. This confirms that the parent link name is updated properly during fixed joint reduction. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Repeat fix from #745 to account for the extra root element in documents created with tinyxml2. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Codecov Report
@@ Coverage Diff @@
## sdf12 #1089 +/- ##
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+ Coverage 86.27% 86.48% +0.20%
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Files 109 109
Lines 16043 16043
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+ Hits 13841 13874 +33
+ Misses 2202 2169 -33
Continue to review full report at Codecov.
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Signed-off-by: Steve Peters <scpeters@openrobotics.org>
jennuine
approved these changes
Jul 27, 2022
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🦟 Bug fix
Part of #746, fixes bug in URDF parsing for libsdformat10+
Summary
This fixes the
ReduceSDFExtensionJointFrameReplacefunction in the URDF parser and in a similar manner to #745. A test is added that fails without the fix in 5aabef4.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.