Remove direct dependency to tinyxml

ARC-OPT · Dec 3, 2024 · a6b18be · a6b18be
1 parent c72bfa4
commit a6b18be
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Showing 6 changed files with 16 additions and 19 deletions.
diff --git a/.github/workflows/build_and_test_ubuntu24.04.yml b/.github/workflows/build_and_test_ubuntu24.04.yml
@@ -2,9 +2,9 @@ name: Ubuntu 24.04
 
 on:
   push:
-    branches: [ master, ubuntu24.04 ]
+    branches: [ master]
   pull_request:
-    branches: [ master, ubuntu24.04 ]
+    branches: [ master]
 
 jobs:
   build_and_test_24_04:
@@ -13,8 +13,6 @@ jobs:
     steps:
     # Check out repository under $GITHUB_WORKSPACE
     - uses: actions/checkout@v2
-      with:
-         ref: ubuntu24.04
     # Build and install
     - name: install
       run: sh scripts/full_install.sh

diff --git a/patches/rbdl.patch b/patches/rbdl.patch
@@ -22,7 +22,7 @@
 +Name: @PACKAGE_NAME@
 +Description: @PACKAGE_DESCRIPTION@
 +Version: @PACKAGE_VERSION@
-+requires: @PKGCONFIG_REQUIRES@ tinyxml urdfdom urdfdom_headers
++requires: @PKGCONFIG_REQUIRES@ urdfdom urdfdom_headers
 +Libs: -L${libdir} @PKGCONFIG_LIBS@ -lrbdl_urdfreader
 +Cflags: -I${includedir} @PKGCONFIG_CFLAGS@
 
diff --git a/src/robot_models/rbdl/RobotModelRBDL.cpp b/src/robot_models/rbdl/RobotModelRBDL.cpp
@@ -23,10 +23,6 @@ void RobotModelRBDL::clear(){
     rbdl_model = std::make_shared<Model>();
 }
 
-void RobotModelRBDL::updateFloatingBase(const base::samples::RigidBodyStateSE3& floating_base_state_in){
-
-}
-
 bool RobotModelRBDL::configure(const RobotModelConfig& cfg){
 
     clear();
@@ -49,9 +45,9 @@ bool RobotModelRBDL::configure(const RobotModelConfig& cfg){
         if(l.second->inertial)
             l.second->inertial->origin.rotation.setFromRPY(0,0,0);
     }
-    TiXmlDocument *doc = urdf::exportURDF(robot_urdf);
+    auto *doc = urdf::exportURDF(robot_urdf);
     std::string robot_urdf_file = "/tmp/robot.urdf";
-    doc->SaveFile(robot_urdf_file);
+    doc->SaveFile(robot_urdf_file.c_str());
 
     if(!Addons::URDFReadFromFile(robot_urdf_file.c_str(), rbdl_model.get(), cfg.floating_base)){
         LOG_ERROR_S << "Unable to parse urdf from file " << robot_urdf_file << std::endl;

diff --git a/src/robot_models/rbdl/RobotModelRBDL.hpp b/src/robot_models/rbdl/RobotModelRBDL.hpp
@@ -15,7 +15,6 @@ class RobotModelRBDL : public RobotModel{
     RigidBodyDynamics::Math::MatrixNd J, H_q;
 
     std::vector<std::string> jointNamesInRBDLOrder(const std::string &urdf_file);
-    void updateFloatingBase(const base::samples::RigidBodyStateSE3& floating_base_state_in);
     void clear();
 
 public:

diff --git a/src/tools/CMakeLists.txt b/src/tools/CMakeLists.txt
@@ -6,13 +6,11 @@ file(GLOB SOURCES RELATIVE ${PROJECT_SOURCE_DIR}/src/types "*.cpp")
 pkg_search_module(base-types REQUIRED IMPORTED_TARGET base-types)
 pkg_search_module(base-logging REQUIRED IMPORTED_TARGET base-logging)
 pkg_search_module(urdfdom REQUIRED IMPORTED_TARGET urdfdom)
-pkg_search_module(tinyxml REQUIRED IMPORTED_TARGET tinyxml)
 pkg_search_module(eigen3 REQUIRED IMPORTED_TARGET eigen3)
 
 list(APPEND PKGCONFIG_REQUIRES base-types)
 list(APPEND PKGCONFIG_REQUIRES base-logging)
 list(APPEND PKGCONFIG_REQUIRES urdfdom)
-list(APPEND PKGCONFIG_REQUIRES tinyxml)
 list(APPEND PKGCONFIG_REQUIRES eigen3)
 string (REPLACE ";" " " PKGCONFIG_REQUIRES "${PKGCONFIG_REQUIRES}")
 
@@ -26,7 +24,6 @@ target_link_libraries(${TARGET_NAME} PUBLIC
                       PkgConfig::base-types
                       PkgConfig::base-logging
                       PkgConfig::urdfdom
-                      PkgConfig::tinyxml
                       PkgConfig::eigen3)
 
 set_target_properties(${TARGET_NAME} PROPERTIES

diff --git a/src/tools/URDFTools.cpp b/src/tools/URDFTools.cpp
@@ -3,6 +3,7 @@
 #include <base-logging/Logging.hpp>
 #include <urdf_model/link.h>
 #include <stack>
+#include <fstream>
 
 namespace wbc {
 
@@ -123,10 +124,16 @@ std::vector<std::string> URDFTools::addFloatingBaseToURDF(urdf::ModelInterfaceSh
 
     std::vector<std::string> floating_base_names = {"floating_base_trans_x", "floating_base_trans_y", "floating_base_trans_z",
                                                     "floating_base_rot_x", "floating_base_rot_y", "floating_base_rot_z"};
-    TiXmlDocument *doc = urdf::exportURDF(robot_urdf);
-    TiXmlPrinter printer;
-    doc->Accept(&printer);
-    std::string robot_xml_string = printer.CStr();
+    auto *doc = urdf::exportURDF(robot_urdf);
+    std::string filename = "/tmp/robot_urdf";
+    doc->SaveFile(filename.c_str());
+    std::ifstream file;
+    file.open(filename);
+    if(!file){
+        std::cout << "Could not open " << filename << std::endl;
+        exit(0);
+    }
+    std::string robot_xml_string( (std::istreambuf_iterator<char>(file) ),(std::istreambuf_iterator<char>()) );
     robot_xml_string.erase(robot_xml_string.find("</robot>"), std::string("</robot>").length());
     std::string floating_base = std::string("  <link name='" + world_frame_id + "'>\n")   +
             "    <inertial>" +