URDF parser: use SDFormat 1.11, parse joint mimic

Signed-off-by: Steve Peters <[email protected]>
gazebosim · Oct 3, 2023 · be3a619 · be3a619
1 parent ea0d5ba
commit be3a619
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Showing 2 changed files with 16 additions and 4 deletions.
diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc
@@ -3148,6 +3148,18 @@ void CreateJoint(tinyxml2::XMLElement *_root,
         AddKeyValue(jointAxisLimit, "velocity",
                     Values2str(1, &_link->parent_joint->limits->velocity));
       }
+
+      if (_link->parent_joint->mimic)
+      {
+        tinyxml2::XMLElement *jointAxisMimic = doc->NewElement("mimic");
+        jointAxisMimic->SetAttribute(
+            "joint", _link->parent_joint->mimic->joint_name.c_str());
+        AddKeyValue(jointAxisMimic, "multiplier",
+                    Values2str(1, &_link->parent_joint->mimic->multiplier));
+        AddKeyValue(jointAxisMimic, "offset",
+                    Values2str(1, &_link->parent_joint->mimic->offset));
+        jointAxis->LinkEndChild(jointAxisMimic);
+      }
     }
 
     if (jtype == "fixed" && !fixedJointConvertedToRevoluteJoint)
@@ -3410,7 +3422,7 @@ void URDF2SDF::InitModelString(const std::string &_urdfStr,
     {
       // URDF is compatible with version 1.7. The automatic conversion script
       // will up-convert URDF to SDF.
-      sdf->SetAttribute("version", "1.7");
+      sdf->SetAttribute("version", "1.11");
       // add robot to sdf
       sdf->LinkEndChild(robot);
     }

diff --git a/src/parser_urdf_TEST.cc b/src/parser_urdf_TEST.cc
@@ -100,8 +100,8 @@ TEST(URDFParser, ParseResults_BasicModel_ParseEqualToModel)
 
   // SDF -> SDF
   std::ostringstream stream;
-  // parser_urdf.cc exports version "1.7"
-  stream << "<sdf version='" << "1.7" << "'>"
+  // parser_urdf.cc exports version "1.11"
+  stream << "<sdf version='" << "1.11" << "'>"
          << "  <model name='test_robot' />"
          << "</sdf>";
   tinyxml2::XMLDocument sdf_doc;
@@ -890,7 +890,7 @@ TEST(URDFParser, CheckJointTransform)
     << "  </link>"
     << "</robot>";
 
-  std::string expectedSdf = R"(<sdf version="1.7">
+  std::string expectedSdf = R"(<sdf version="1.11">
     <model name="test_robot">
         <joint type="fixed" name="jointw_1">
             <pose relative_to="__model__">0 0 0 0 0 0</pose>