[Personalrobots-commit] SF.net SVN: personalrobots:[3986] pkg/trunk

[<stu...@us...>]

Revision: 3986
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3986&view=rev
Author:   stuglaser
Date:     2008-09-05 18:37:10 +0000 (Fri, 05 Sep 2008)

Log Message:
-----------
Searches the correct path for the robot's .xml description file.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp
    pkg/trunk/robot_descriptions/wg_robot_description_parser/src/parser.cpp

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp	2008-09-05 18:05:23 UTC (rev 3985)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp	2008-09-05 18:37:10 UTC (rev 3986)
@@ -73,13 +73,16 @@
     return;
   }
 
-  // TODO: should look for the file relative to the path of the world file.
-  std::string filename = robot->GetString("filename", "", 1);
+  std::string filename = robot->GetFilename("filename", "", 1);
   printf("Loading %s\n", filename.c_str());
 
   TiXmlDocument doc(filename);
-  doc.LoadFile();
-  assert(doc.RootElement());
+  if (!doc.LoadFile())
+  {
+    fprintf(stderr, "Error: Could not load the gazebo actuators plugin's configuration file: %s\n",
+            filename.c_str());
+    abort();
+  }
   urdf::normalizeXml(doc.RootElement());
 
   // Pulls out the list of actuators used in the robot configuration.

Modified: pkg/trunk/robot_descriptions/wg_robot_description_parser/src/parser.cpp
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description_parser/src/parser.cpp	2008-09-05 18:05:23 UTC (rev 3985)
+++ pkg/trunk/robot_descriptions/wg_robot_description_parser/src/parser.cpp	2008-09-05 18:37:10 UTC (rev 3986)
@@ -196,6 +196,10 @@
 
   TiXmlElement *previous = NULL;  // tracks the element before elt
 
+  //------------------------------------------------------------
+  // Zeroeth Pass
+
+  // - Replaces include elements with the desired file
   while (elt)
   {
     if (elt->ValueStr() == std::string("include"))
@@ -243,7 +247,6 @@
   // - Replaces insert_const_block elements with the corresponding xml tree.
   // - Replaces const strings with the actual values.
   // - Reduces mathematical expressions.
-  // - Replaces include elements with the desired file
   while (elt)
   {
     // Kills elt, if it's a const or const_block definition
@@ -270,30 +273,6 @@
 
       elt = next_element(previous);
     }
-    // Replaces elt if it's an include tag.
-    else if (elt->ValueStr() == std::string("include"))
-    {
-      std::string filename(elt->GetText());
-
-      // FIXME: get path of current xml node and use relative path for includes
-      std::string currentPath = getenv("MC_RESOURCE_PATH") ? getenv("MC_RESOURCE_PATH") : ".";
-      if (currentPath!="") filename = (currentPath+"/")+filename;
-
-      TiXmlDocument doc(filename);
-      doc.LoadFile();
-
-      if (!doc.RootElement())
-      {
-        fprintf(stderr, "Included file not found: %s\n", filename.c_str());
-        elt->Parent()->RemoveChild(elt);
-      }
-      else
-      {
-        replaceReference(&elt, doc.RootElement()->FirstChild());
-      }
-
-      elt = next_element(previous);
-    }
     // Replaces the attributes of elt and the text inside elt if they
     // have constants or expressions, and continues down the tree.
     else


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.