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robotology / sdf-modelica

URDF/SDF to to Modelica model converter.
GNU Lesser General Public License v3.0
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Port sdf-modelica to work with SDFormat 4 #20

Open traversaro opened 6 years ago

traversaro commented 6 years ago

ROS Kinetic Kame ships with Gazebo 7 and SDFormat 4 (http://gazebosim.org/tutorials/?tut=ros_wrapper_versions, http://gazebosim.org/tutorials?tut=install_dependencies_from_source). As several users actually work with ROS, it would be good to make sdf-modelica work with SDFormat 4, instead of requiring SDFormat 6.

traversaro commented 6 years ago

@triccyx first test had this error:

In file included from /home/ltricerri/sdf-modelica/src/sdf-modelica-lib/src/sdf_modelica.cpp:13:0:
/home/ltricerri/sdf-modelica/src/sdf-modelica-lib/include/sdf_modelica/sdf_modelica_diagram_layout.h:17:40: fatal error: ignition/math/graph/Graph.hh: No such file or directory
compilation terminated.
src/sdf-modelica-lib/CMakeFiles/sdf-modelica-lib.dir/build.make:62: recipe for target 'src/sdf-modelica-lib/CMakeFiles/sdf-modelica-lib.dir/src/sdf_modelica.cpp.o' failed
make[2]: *** [src/sdf-modelica-lib/CMakeFiles/sdf-modelica-lib.dir/src/sdf_modelica.cpp.o] Error 1
CMakeFiles/Makefile2:138: recipe for target 'src/sdf-modelica-lib/CMakeFiles/sdf-modelica-lib.dir/all' failed
make[1]: *** [src/sdf-modelica-lib/CMakeFiles/sdf-modelica-lib.dir/all] Error 2
Makefile:127: recipe for target 'all' failed

I guess the graph classes are not available in ignition-math 2.* (the version used by Gazebo 7). However, their use is not strictly necessary, because they are used only for the automatic layout generation using graphviz that is currently disabled. For this reason, I think it should be safe to just #ifdef those part of the code based on the ignition math version, to have a version of sdf-modelica that works fine with SDFormat 4.