gazebosim/sdformat

XSD schema generation doesn't parse all nested elements

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#633 opened on Jul 24, 2021

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Description

The current xmlschema.b parses each X.sdf file and generates an accompanying X.xsd file; however, if any element other than the root element contains a nested <include> tag this tag is ignored. This is because the root element is parsed by the function printXSD, whereas other elements are parsed by printElem and the latter doesn't check for <include> tags.

This is a problem with more recent SDFormat files, which introduce <pose> as a complex type with an optionally nested <relative_to>. Pose is now <include>d, and hence never makes it into the produced .xsd.

The two solutions I can think of are: (1) copy the include parsing code from printXSD to printElem (works, but dirty). Refactor xmlschema.b and merge all code paths that parse element tags.

Contributor guide

Research direction
Examine the printElem function in xmlschema.b to understand why it ignores nested <include> tags, then adapt the include parsing logic from printXSD to handle nested elements similarly.
Tech stack
cpp
Domain
backendtooling
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++XMLGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60