Fix failed to parse urdf error message on launch

.github/workflows/ubuntu.yml

@@ -17,8 +17,35 @@ on:
       - released
 
 jobs:
+  get-tag:
+    # Pre-job to fetch the latest tag
+    runs-on: ubuntu-latest
+    outputs:
+      major: ${{ steps.extract_tag.outputs.major }}
+      minor: ${{ steps.extract_tag.outputs.minor }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # Ensure all history and tags are fetched
+
+      - name: Get latest tag
+        id: extract_tag
+        run: |
+          latest_tag=$(git describe --tags `git rev-list --tags --max-count=1`)
+          echo "Latest tag: $latest_tag"
+
+          # Extract major and minor version from the tag
+          IFS='.' read -r major minor patch <<< "$latest_tag"
+          echo "Major: $major"
+          echo "Minor: $minor"
+
+          # Set as output variables
+          echo "::set-output name=major::$major"
+          echo "::set-output name=minor::$minor"
   ci:
     name: ${{ matrix.distro }}
+    needs: get-tag  # Make sure the 'ci' job waits for the 'get-tag' job to finish
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
@@ -37,7 +64,7 @@ jobs:
             distro: rolling
             vcs-file: .github/workflows/dependencies.repos
     container:
-      image: ghcr.io/tesseract-robotics/tesseract_qt:${{ matrix.os }}-${{ vars.TESSERACT_DOCKER_TAG }}
+      image: ghcr.io/tesseract-robotics/tesseract_qt:${{ matrix.os }}-${{ needs.get-tag.outputs.major }}.${{ needs.get-tag.outputs.minor }}
       env:
         CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
         DEBIAN_FRONTEND: noninteractive

tesseract_rviz/src/environment_monitor_properties.cpp

@@ -217,29 +217,47 @@ void EnvironmentMonitorProperties::onURDFDescriptionChanged()
 
   auto env = std::make_shared<tesseract_environment::Environment>();
   auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
-  if (env->init(urdf_xml_string, srdf_xml_string, locator))
+  if (urdf_xml_string.empty())
   {
-    data_->monitor = std::make_unique<tesseract_monitoring::ROSEnvironmentMonitor>(
-        data_->node, env, data_->urdf_description_string_property->getStdString());
-    if (data_->monitor != nullptr)
-    {
-      data_->render_manager =
-          std::make_shared<ROSSceneGraphRenderManager>(data_->component_info, data_->scene_manager, data_->scene_node);
-      data_->contact_results_render_manager = std::make_shared<ROSContactResultsRenderManager>(
-          data_->component_info, data_->scene_manager, data_->scene_node);
-
-      Q_EMIT componentInfoChanged(data_->component_info);
-
-      auto env_wrapper =
-          std::make_shared<tesseract_gui::MonitorEnvironmentWrapper>(data_->component_info, data_->monitor);
-      tesseract_gui::EnvironmentManager::set(env_wrapper);
+    data_->parent->setStatus(rviz_common::properties::StatusProperty::Error, "Tesseract", "URDF parameter is empty!");
+    return;
+  }
 
-      onJointStateTopicChanged();
+  if (!srdf_xml_string.empty())
+  {
+    if (!env->init(urdf_xml_string, srdf_xml_string, locator))
+    {
+      data_->parent->setStatus(
+          rviz_common::properties::StatusProperty::Error, "Tesseract", "URDF or SRDF file failed to parse");
+      return;
     }
   }
   else
   {
-    data_->parent->setStatus(rviz_common::properties::StatusProperty::Error, "Tesseract", "URDF file failed to parse");
+    if (!env->init(urdf_xml_string, locator))
+    {
+      data_->parent->setStatus(
+          rviz_common::properties::StatusProperty::Error, "Tesseract", "URDF file failed to parse");
+      return;
+    }
+  }
+
+  data_->monitor = std::make_unique<tesseract_monitoring::ROSEnvironmentMonitor>(
+      data_->node, env, data_->urdf_description_string_property->getStdString());
+  if (data_->monitor != nullptr)
+  {
+    data_->render_manager =
+        std::make_shared<ROSSceneGraphRenderManager>(data_->component_info, data_->scene_manager, data_->scene_node);
+    data_->contact_results_render_manager = std::make_shared<ROSContactResultsRenderManager>(
+        data_->component_info, data_->scene_manager, data_->scene_node);
+
+    Q_EMIT componentInfoChanged(data_->component_info);
+
+    auto env_wrapper =
+        std::make_shared<tesseract_gui::MonitorEnvironmentWrapper>(data_->component_info, data_->monitor);
+    tesseract_gui::EnvironmentManager::set(env_wrapper);
+
+    onJointStateTopicChanged();
   }
 }