updated to urdf parser from xmldom (rqt_joint_trajectory_controller)

[Ashray4]

Update joint-limits parsing to use urdf_parser_py

[christophfroehlich]

can you comment on why we need to remove this?

[Ashray4]

When i tested with ros2_control_demos , i got these unknown tags

ros2 run rqt_gui rqt_gui --force-discover -s rqt_joint_trajectory_controller
Waiting for the robot_description!
Waiting for the robot_description!
Waiting for the robot_description!
Unknown tag "ros2_control" in /robot[@name='2dof_robot']

also while testing with some robot descriptions with inertial tags as well

Unknown attribute "iyx" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur5e']/link[@name='robotiq_85_base_link']/inertial/inertia

[christophfroehlich]

ok it seems that the parser is very strict with that. iyx/izx/izy does not exist in the spec, this really is an issue in the URDF.

Unless there isn't a possibility to switch to a robust mode in the urdf module, your fix seems to be fine!

[Ashray4]

i will check if there is a possibility of the robust mode, and also write the test case as you mentioned

[christophfroehlich]

if fixed, please remove L21-24

[christophfroehlich]

I have some comments.
Apart from that, I think we easily could write a unit test for this class. At least some sort of smoke test with a valid robot_description from the assets we have.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 40 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.17%. Comparing base (2cd0d47) to head (36e869c).
⚠️ Report is 28 commits behind head on master.

Files with missing lines	Patch %	Lines
...t_joint_trajectory_controller/joint_limits_urdf.py	0.00%	40 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1982      +/-   ##
==========================================
+ Coverage   85.11%   85.17%   +0.06%     
==========================================
  Files         143      143              
  Lines       13740    13730      -10     
  Branches     1201     1200       -1     
==========================================
  Hits        11695    11695              
+ Misses       1638     1628      -10     
  Partials      407      407              

Flag	Coverage Δ
unittests	85.17% <0.00%> (+0.06%)	⬆️

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Files with missing lines	Coverage Δ
...t_joint_trajectory_controller/joint_limits_urdf.py	0.00% <0.00%> (ø)

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.