When parsing a URDF string, parser.cc function readDoc places "" into file pathing via SetFilePath. This literal then appears in relative file paths for items such as meshes, breaking include capability.
Description
Expected behavior: File pathing is not arbitrarily broken via injected string data
Actual behavior: "<urdf-string>" is prepended to relative paths in URDF file
It would be useful to at least have a config switch suppressing this behavior.
Steps to reproduce
Launch ign gazebo
Process a URDF file with meshes through xacro
Launch robot state publisher to load the output of (2) on a topic
Launch ros_ign_gazebo create to spwan an entity, referencing the topic in (3)
Examine the resulting file paths and note "<urdf-string>" in mesh paths
Environment
Description
<urdf-string>
" is prepended to relative paths in URDF fileIt would be useful to at least have a config switch suppressing this behavior.
Steps to reproduce
<urdf-string>
" in mesh paths