Allow empty urdf tag #1017
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Allow empty urdf tag #1017
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bmagyar
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May 11, 2023
| { | ||
| const std::string broken_urdf_string = | ||
| std::string(ros2_control_test_assets::urdf_head) + | ||
| ros2_control_test_assets::invalid_urdf_ros2_control_parameter_empty + | ||
| ros2_control_test_assets::urdf_tail; | ||
|
|
||
| ASSERT_THROW(parse_control_resources_from_urdf(broken_urdf_string), std::runtime_error); | ||
| ASSERT_NO_THROW(parse_control_resources_from_urdf(broken_urdf_string)); |
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While this may be technically correct. I don't think we should do it. We need a new test explicitly to make sure that empty tags as here are permitted but not a fully broken urdf as per the tests suggests
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Thanks for the feedback, absolutely valid point. I replaced the test with a more consistent one in 4c02c65.
This replaces the test that checks that empty parameter tags work and actually checks the parsed urdf.
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❗ Your organization is not using the GitHub App Integration. As a result you may experience degraded service beginning May 15th. Please install the Github App Integration for your organization. Read more. @@ Coverage Diff @@
## master #1017 +/- ##
==========================================
- Coverage 34.61% 32.65% -1.97%
==========================================
Files 52 91 +39
Lines 2981 9566 +6585
Branches 1855 6445 +4590
==========================================
+ Hits 1032 3124 +2092
- Misses 310 704 +394
- Partials 1639 5738 +4099
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May 19, 2023
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@Mergifyio backport humble |
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* Do not explode with empty tag * Update tests to allow empty URDF parameter to hardware interface * Test checks that empty parameter tags work and actually checks the parsed urdf. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 7c07430) # Conflicts: # hardware_interface/src/component_parser.cpp
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* Do not explode with empty tag * Update tests to allow empty URDF parameter to hardware interface * Test checks that empty parameter tags work and actually checks the parsed urdf. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 7c07430) # Conflicts: # hardware_interface/src/component_parser.cpp
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* Do not explode with empty tag * Update tests to allow empty URDF parameter to hardware interface * Test checks that empty parameter tags work and actually checks the parsed urdf. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 7c07430) # Conflicts: # hardware_interface/src/component_parser.cpp
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* [URDF Parser] Allow empty urdf tag, e.g., parameter (#1017) * Do not explode with empty tag * Update tests to allow empty URDF parameter to hardware interface * Test checks that empty parameter tags work and actually checks the parsed urdf. * Patch test updates for humble API --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 7c07430)
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Jul 5, 2023
) * [URDF Parser] Allow empty urdf tag, e.g., parameter (ros-controls#1017) * Do not explode with empty tag * Update tests to allow empty URDF parameter to hardware interface * Test checks that empty parameter tags work and actually checks the parsed urdf. * Patch test updates for humble API --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 7c07430)
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This is #1008 with updated tests.