Merge sdf12 ➡️ sdf13 #1357
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Merge sdf12 ➡️ sdf13 #1357
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When converting from URDF to SDFormat, some links without an <inertial> block or a small mass may be dropped with only debug messages in a log file, which are easily missed. This makes the following changes: * When a massless link in the middle of a kinematic chain is successfully merged to its parent by fixed joint reduction, fix bug that was dropping the massless link's child links and joints. * Print no warnings or debug messages when a massless link is successfully merged to a parent by fixed joint reduction. * Promote debug messages to warnings / errors when links are dropped to improve visibility. Improve message clarity and suggest fixes to the user. * Change massless threshold test to `> 0` instead of being within a 1e-6 tolerance of 0. * Add unit and integration tests. Related to gazebosim#199 and gazebosim#1007. (cherry picked from commit 6ffe669) Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Steve Peters <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Signed-off-by: Addisu Z. Taddese <[email protected]>
* Use on `push` only on stable branches to avoid duplicate runs * Update project automation Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Static builds of sdformat failbecause we are creating the using_parser_urdf target and linking it against the core library target, which is then exported. When the core library is built as a static library, CMake requires that other targets linked against it are exported as well (see https://stackoverflow.com/a/71080574/283225 case (2)). The solution in this PR is to compile the URDF sources directly into the core library instead of creating an extra target. While working on this, I realized we could create a static library that includes all the extra sources needed for tests instead of building each test with its own extra sources. I believe this will marginally improve compilation time, but more importantly, I think it cleans up the CMake file and will make adding tests easier. --------- Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## sdf13 #1357 +/- ##
==========================================
- Coverage 87.58% 87.58% -0.01%
==========================================
Files 128 128
Lines 17090 17095 +5
==========================================
+ Hits 14968 14972 +4
- Misses 2122 2123 +1 ☔ View full report in Codecov by Sentry. |
ahcorde
approved these changes
Jan 18, 2024
iche033
approved these changes
Jan 18, 2024
Signed-off-by: Addisu Z. Taddese <[email protected]>
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sdf12➡️sdf13Branch comparison: sdf13...sdf12
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)