def test_xml_and_urdfdom_robot_only_supported_since_melodic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.add_aggregate(
'visual',
urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat')))
link.add_aggregate(
'visual',
urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2')))
link.add_aggregate(
'collision',
urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1)))
link.add_aggregate(
'collision',
urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5)))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))
def test_xml_and_urdfdom_robot_compatible_with_kinetic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2'))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))
def parse_and_compare(self, orig):
xml = minidom.parseString(orig)
robot = urdf.Robot.from_xml_string(orig)
rewritten = minidom.parseString(robot.to_xml_string())
self.assertTrue(xml_matches(xml, rewritten))
def parse_and_compare(self, orig):
xml = minidom.parseString(orig)
robot = urdf.Robot.from_xml_string(orig)
rewritten = minidom.parseString(robot.to_xml_string())
self.assertTrue(xml_matches(xml, rewritten))
def xml_and_compare(self, robot, xml):
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))