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ros / urdfdom

URDF parser
http://ros.org/wiki/urdf
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Question: check_urdf does not take into account transmission tag, wrong behaviour ? #139

Open Bracewind opened 4 years ago

Bracewind commented 4 years ago

Hello everyone,

I am not sure this is the right repository, since it is not clear to me whether or not the transmission tag belongs to the urdf specification or the ros_control specification.

when applying check_urdf to a urdf file containing transmissions tag, the node does not check whether or not the joint specified in the transmission tag exists. This makes debugging harder when the package ros_control is used.

Thanks for reading

clalancette commented 4 years ago

The transmission tag is part of the URDF specification here: https://github.com/ros/urdfdom/blob/6faba176d41cf39114785a3e029013f941ed5a0e/xsd/urdf.xsd#L245 .

However, the actual parsing and checking of the URDF is done over in https://github.com/ros/urdf/blob/e84c0ce88a37cf78ac456c7fae4b4e9bd7430069/urdf/src/model.cpp for C++ and https://github.com/ros/urdf_parser_py/blob/b6a9726c976933fb8cec0b5b872101984ec131dd/src/urdf_parser_py/urdf.py#L471 for Python.

As you say, it doesn't look like there is any error checking around transmission right now. We would certainly welcome a pull request that implemented that.