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Allow empty urdf tag #1017

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merged 5 commits into from
May 19, 2023
Merged

Allow empty urdf tag #1017

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2f9a554
Do not explode with empty tag
bmagyar May 3, 2023
2f33675
Update tests to allow empty URDF parameter to hardware interface
fmauch May 11, 2023
4c02c65
Replace test for empty param
fmauch May 15, 2023
a531264
Code formatting
fmauch May 15, 2023
9a3b0cf
Merge branch 'master' into allow_empty_urdf_tag
destogl May 17, 2023
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4 changes: 3 additions & 1 deletion hardware_interface/src/component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <tinyxml2.h>
#include <charconv>
#include <iostream>
#include <regex>
#include <stdexcept>
#include <string>
Expand Down Expand Up @@ -68,7 +69,8 @@ std::string get_text_for_element(
const auto get_text_output = element_it->GetText();
if (!get_text_output)
{
throw std::runtime_error("text not specified in the " + tag_name + " tag");
std::cerr << "text not specified in the " << tag_name << " tag" << std::endl;
return "";
}
return get_text_output;
}
Expand Down
36 changes: 26 additions & 10 deletions hardware_interface/test/test_component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,16 +100,6 @@ TEST_F(TestComponentParser, component_interface_type_empty_throws_error)
ASSERT_THROW(parse_control_resources_from_urdf(broken_urdf_string), std::runtime_error);
}

TEST_F(TestComponentParser, parameter_empty_throws_error)
{
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);
}

TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_one_interface)
{
std::string urdf_to_test =
Expand Down Expand Up @@ -625,6 +615,32 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_with_size_and_d
EXPECT_EQ(hardware_info.gpios[0].state_interfaces[1].size, 1);
}

TEST_F(TestComponentParser, successfully_parse_parameter_empty)
{
const std::string urdf_to_test =
std::string(ros2_control_test_assets::urdf_head) +
ros2_control_test_assets::valid_urdf_ros2_control_parameter_empty +
ros2_control_test_assets::urdf_tail;
const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
ASSERT_THAT(control_hardware, SizeIs(1));
auto hardware_info = control_hardware.front();

EXPECT_EQ(hardware_info.name, "2DOF_System_Robot_Position_Only");
EXPECT_EQ(hardware_info.type, "system");
EXPECT_EQ(
hardware_info.hardware_plugin_name,
"ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only");

ASSERT_THAT(hardware_info.joints, SizeIs(1));

EXPECT_EQ(hardware_info.joints[0].name, "joint1");
EXPECT_EQ(hardware_info.joints[0].type, "joint");
EXPECT_EQ(hardware_info.joints[0].command_interfaces[0].name, "position");

EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "");
EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "2");
}

TEST_F(TestComponentParser, negative_size_throws_error)
{
std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) +
Expand Down
32 changes: 15 additions & 17 deletions ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -398,6 +398,21 @@ const auto valid_urdf_ros2_control_system_robot_with_size_and_data_type =
</ros2_control>
)";

const auto valid_urdf_ros2_control_parameter_empty =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec"></param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
</command_interface>
</joint>
</ros2_control>
)";

// Errors
const auto invalid_urdf_ros2_control_invalid_child =
R"(
Expand Down Expand Up @@ -485,23 +500,6 @@ const auto invalid_urdf_ros2_control_component_interface_type_empty =
</ros2_control>
)";

const auto invalid_urdf_ros2_control_parameter_empty =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec"></param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</command_interface>
</joint>
</ros2_control>
)";

const auto invalid_urdf2_ros2_control_illegal_size =
R"(
<ros2_control name="RRBotSystemWithIllegalSize" type="system">
Expand Down