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assign correct MaterialPtr to all visuals #114

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Merged
scpeters merged 4 commits into from
Jan 30, 2019
Merged

assign correct MaterialPtr to all visuals #114

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1939751
assign correct MaterialPtr to all visuals
rhaschke Oct 31, 2018
b53fef5
fix errors
rhaschke Nov 6, 2018
93a2bf4
tolerate undefined materials with a warning
rhaschke Nov 14, 2018
8175b16
Minor style fixups.
clalancette Jan 18, 2019
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4 changes: 1 addition & 3 deletions urdf_parser/src/link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -380,9 +380,7 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
// try to parse material element in place
vis.material.reset(new Material());
if (!parseMaterial(*vis.material, mat, true))
{
CONSOLE_BRIDGE_logDebug("urdfdom: material has only name, actual material definition may be in the model");
}
vis.material.reset();
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@rhaschke rhaschke Jan 18, 2019

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Before the visual's material pointer was always well defined.

}

return true;
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59 changes: 33 additions & 26 deletions urdf_parser/src/model.cpp
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Expand Up @@ -59,6 +59,33 @@ ModelInterfaceSharedPtr parseURDFFile(const std::string &path)
return urdf::parseURDF( xml_str );
}

bool assignMaterial(const VisualSharedPtr& visual, const ModelInterfaceSharedPtr& model, const char* link_name)
{
if (visual->material_name.empty())
return true;

const MaterialSharedPtr& material = model->getMaterial(visual->material_name);
if (material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material to '%s'", link_name, visual->material_name.c_str());
visual->material = material;
}
else
{
if (visual->material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link_name,visual->material_name.c_str());
model->materials_.insert(make_pair(visual->material->name,visual->material));
}
else
{
CONSOLE_BRIDGE_logError("link '%s' material '%s' undefined.", link_name,visual->material_name.c_str());
model.reset();
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@clalancette clalancette Nov 6, 2018

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CI is failing because you can't call reset on a const reference. This looks like it should probably be a non-const reference.

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@rhaschke rhaschke Nov 6, 2018

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I'm sorry. Obviously I filed this PR in a rush. There was also a missing return value. Both issues should be fixed now.

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@rhaschke rhaschke Nov 12, 2018

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There is one more open issue: The new parser is more picky about undefined materials than the old parser (which is good). However, I suggest to issue a warning only instead of an error.

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@clalancette clalancette Nov 13, 2018

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Sure, that sounds good to me.

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@rhaschke rhaschke Nov 14, 2018

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Done.

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@clalancette clalancette Jan 18, 2019

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I ended up pushing 8175b16, which does some simple style cleanups. However, what I want to talk about here is the fact that the new code actually seems less picky about undefined materials. That is, it used to be that if the material was undefined, then the parser would return a nullptr from parseURDF. The new code, while it downgrades the print from an error to a warning, lets the code go on. In other words, the boolean return value from assignMaterial seems to be ignored. @rhaschke is this the intended behavior, and if so, could you say a bit about why this is safe/better to do here? Thanks.

return false;
}
}
}

ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
{
ModelInterfaceSharedPtr model(new ModelInterface);
Expand Down Expand Up @@ -137,33 +164,13 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
}
else
{
// set link visual material
// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
if (!link->visual->material_name.empty())
{
if (model->getMaterial(link->visual->material_name))
{
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
link->visual->material = model->getMaterial( link->visual->material_name.c_str() );
}
else
{
if (link->visual->material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
model->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
}
else
{
CONSOLE_BRIDGE_logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
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@rhaschke rhaschke Jan 18, 2019

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Because the visual's material was always well-defined, this error was never printed.

model.reset();
return model;
}
}
}
}
if (link->visual && !assignMaterial(link->visual, model, link->name.c_str()))
return model;
for (const auto& visual : link->visual_array)
if (!assignMaterial(visual, model, link->name.c_str()))
return model;

model->links_.insert(make_pair(link->name,link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
Expand Down