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openrr / urdf-rs

URDF parser for Rust
Apache License 2.0
32 stars 12 forks source link

SDFormat #31

Open willstott101 opened 2 years ago

willstott101 commented 2 years ago

The URDF and SDF file formats are very similar in a lot of ways - any start to an sdformat parser would likely be a fork from this work (case in point).

Would you be willing to accept contributions to add SDF parsing alongside URDF parsing to help maximise code-reuse?

OTL commented 2 years ago

@willstott101 Great work!

What is your plan to reuse the code?

willstott101 commented 2 years ago

That link was something someone else had worked on as a fork from this repo. But it looks abandoned and incorrectly licensed to me.

My initial bit of work was here: https://github.com/willstott101/urdf-rs/commit/03a64c83dc5047c0d287fbb906aa8c94c367c774

Basic idea was to split this crate up into three main modules: pub urdf, pub sdf and common, then I moved utils to ros_utils too cause they're very ROS-specific.

What we can end up re-using is Error types, some of the simple structs, and the vector parsing code.

There would also be scope to convert from one->other for particular constrained files, to make it easier to create programs which can import both.

willstott101 commented 2 years ago

Resource resolution (stuff currently in utils is generally very shareable).

willstott101 commented 2 years ago

Opened #32 as it's easier to keep track of and comment on changes.

hardesh commented 2 years ago

Hi, I would like to push any contributions to add this feature. Please let me know if there are any open tasks

willstott101 commented 2 years ago

Hi, that would be most welcome. My branch with a pull request open is the latest thing I've worked on. Step one towards being able to have multiple people work on this would be to have a few tests for loading very simple SDF strings in the funcs.rs file.

If we can have a few small tests for each basic part of an SDF it should be easy for people to contribute the parsing of elements they're interested in. I think very rarely do people require the entire spec, so small tests should help us grow the functionality at whatever rate we need.

willstott101 commented 2 years ago

I'm happy to merge PRs into my fork for now, if that's the most convenient.

hardesh commented 2 years ago

Hi @willstott101,

Great. I think it makes sense to start adding tests which only have the main model of the robot. Later we can start adding sensor in the SDF. Let me know if this works for you.

I'll start going through your code

willstott101 commented 2 years ago

Lovely. What's there is pretty much a suggestion for crate layout more than anything functional. As a warning :)

willstott101 commented 2 years ago

I've pushed a version which is actually able to parse an SDF file now. Lots to learn about serde_xml_rs... but finally got a top-level enum for different kinds of SDF files working. Could alternatively always return a list of Worlds, and just create a World for files without one, if the enum proves to be a bit awkward.

hardesh commented 2 years ago

Thanks. Will take a look at it. I was on vacation over the past few days. Haven't had a chance to look at the code