Link Visual and Collision are not exported to XML #80
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clalancette
requested changes
Jul 11, 2023
* add test to build robot model from python urdf classes * add more tests on python urdf build * update backward compatibility Link(visual=...) does not set <visual> on <link> since 0.4.0, breaks backward compatibility * Robot accepts version kwarg Signed-off-by: Shane Loretz <[email protected]> Co-authored-by: Shane Loretz <[email protected]>
The Visual class does not have an attribute name anymore. Consequently, we can not expect the test to work.
I did not find a way to change the branch from which the changes are pulled from. (Unless opening a new PR) Thus, I repurposed the |
clalancette
requested changes
Aug 9, 2023
The attributes 'visual' and 'collision' exist only for back-compability reasons and shall only be used if there exists one and only one visual or collision element. For links with multiple visual or collision elements the new method is added which shall be used. This simplifies the usage of the API.
- In the previous version, collision and visual objects were added twice. Tests were updated accordingly. - Added tests to check if visual and collision objects can be removed.
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I realized, that Visual and Collision are not exported to XML, if they are set via the Constructor.
There is also an open issue for it #42.
In addition, I realized that this issue was already fixed on the melodic-branch, see pull request #47.
Consequently, I cherry-pick the changes introduced with #47. In addition, I had to remove one test, since the
Visualclass does not have an attributenameanymore.Closes: #42
Relates: #47