Open scpeters opened 2 years ago
I've added tests for ReduceSDFExtensionJointFrameReplace
in the following branches:
I've added tests for
ReduceSDFExtensionJointFrameReplace
in the following branches:
- targeting sdf9 (passes): sdf9...scpeters:test_fixed_joint_reduction_joint_9
- targeting sdf12 (fails): sdf12...scpeters:test_fixed_joint_reduction_joint_12
to complete this issue, the fix from #1089 can be applied to the following three functions:
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: