Enable StoreResolvedURIs when loading SDF #2323
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Ian Chen <[email protected]>
iche033
added
the
needs upstream release
8 tasks
mjcarroll
approved these changes
Feb 26, 2024
Signed-off-by: Ian Chen <[email protected]>
azeey
reviewed
Mar 1, 2024
| @@ -119,7 +119,9 @@ Server::Server(const ServerConfig &_config) | |||
| // resources are downloaded. Blocking here causes the GUI to block with | |||
| // a black screen (search for "Async resource download" in | |||
| // 'src/gui_main.cc'. | |||
| errors = sdfRoot.Load(filePath); | |||
| auto &parserConfig = sdf::ParserConfig::GlobalConfig(); | |||
There was a problem hiding this comment.
I believe this is modifying the global config. The comment on the commit says otherwise 🙃
There was a problem hiding this comment.
ah the comment is meant to say "do no overwrite the findFile callbacks in global config". The original implementation passed an empty ParserConfig so it overwrote the callbacks set earlier in the function
9 tasks
|
closing this in favor of #2349 that targets harmonic |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Depends on gazebosim/sdformat#1373
Summary
When ParserConfig's
SetStoreResolvedURIsoption is set to true, the URIs will be resolved / expanded and stored in the SDF parsed. Any consumer of the SDF will not have to resolve the URIs themselves.One use case for this is that the bullet-featherstone implementation in gz-physics needs to load meshes from the URI element in SDF. Without resolved URIs, the bullet-featherstone engine will need to implement its own logic to resolve all mesh URIs which may result in duplicate code, e.g. gazebosim/gz-physics#599.
For context, this ParserConfig option was added in gazebosim/sdformat#1147 to help with bullet-featherstone work but for some reason it was not set at the time (gazebosim/gz-physics#599 (comment)).
While testing, I ran into some unused code for mesh URIs in
rendering/SceneManager.ccso removed that as well.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.