gazebosim/sdformat

Parsing a URDF string injects "<urdf-string>" into file paths

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#794 opened on Dec 20, 2021

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URDFbughelp wanted

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Description

Environment

  • OS Version: Ubuntu 20.04
  • Source build sdf12 branch

Description

  • Expected behavior: File pathing is not arbitrarily broken via injected string data
  • Actual behavior: "<urdf-string>" is prepended to relative paths in URDF file

It would be useful to at least have a config switch suppressing this behavior.

Steps to reproduce

  1. Launch ign gazebo
  2. Process a URDF file with meshes through xacro
  3. Launch robot state publisher to load the output of (2) on a topic
  4. Launch ros_ign_gazebo create to spwan an entity, referencing the topic in (3)
  5. Examine the resulting file paths and note "<urdf-string>" in mesh paths

Contributor guide

Research direction
Investigate the readDoc function in parser.cc to understand how SetFilePath is called and why the literal "<urdf string>" is injected into file paths. Look for where the string is stored and how it could be suppressed or handled correctly.
Tech stack
cpp
Domain
backend
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.
Half day
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++URDFSDFormat
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50