Allow model frames (__model__) to be used as joint parent or child#833
Merged
azeey merged 1 commit intogazebosim:sdf11from Jan 27, 2022
Merged
Allow model frames (__model__) to be used as joint parent or child#833azeey merged 1 commit intogazebosim:sdf11from
azeey merged 1 commit intogazebosim:sdf11from
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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Ubuntu cmake warning: |
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related to gazebo-tooling/release-tools#625 |
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scpeters
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Jan 27, 2022
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1 |
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1 |
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🦟 Bug fix
Summary
The spec (http://sdformat.org/tutorials?tut=composition_proposal&cat=pose_semantics_docs-3-3-model-frame-references) says "For a model named
{name}, model frames can be referenced by their name.{name}::__model__is also valid, but {name} is preferred instead." libsdformat has supported using a model's{name}in//joint/parentand//joint/childfor a while, but it currently does not support{name}::__model__. This PR rectifies that and also adds support for using just__model__since that is a valid frame inside a model.Came up in PR review for #768: comment
Checklist
[ ] Updated documentation (as needed)[ ] Updated migration guide (as needed)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.