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ros / urdfdom

URDF parser
http://ros.org/wiki/urdf
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urdf xml should support quaternions #13

Open baxelrod-bdai opened 11 years ago

baxelrod-bdai commented 11 years ago

it would be nice if the urdf xml format accepted quaternions in addition to roll, pitch, yaw.

VictorLamoine commented 5 years ago

I've done some modifications in urdfdom and urdfdom_headers to make this possible (I think)

https://github.com/ros/urdfdom/compare/master...VictorLamoine:master https://github.com/ros/urdfdom_headers/compare/master...VictorLamoine:master

I've compiled and installed both projects on my system (in /usr/local/) but it seems that ROS is not using the new version to parse URDF files.

What should be done to make sure the new version (from /usr/local) is going to be used?

clalancette commented 5 years ago

@VictorLamoine You can probably use LD_LIBRARY_PATH to point to /usr/local and make it use the headers there. Worst case, if that doesn't work, then I'd suggest making a container, installing ROS into it, then manually installing the new versions of liburdfdom*.so into /usr/lib/x86_64-linux-gnu, with corresponding headers in /usr/include/urdf*.

VictorLamoine commented 5 years ago

Modifying LD_LIBRARY_PATH works thanks @clalancette