Skip to content

Support quaternions in URDF 1.1 #235

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
ahcorde merged 6 commits into from
Dec 26, 2025
Merged

Support quaternions in URDF 1.1 #235

ahcorde merged 6 commits into from
Dec 26, 2025
+311 −23

Conversation

@scpeters
Copy link
Contributor

@scpeters scpeters commented Dec 10, 2025 •
edited
Loading

This is a second attempt adding quaternions to the URDF spec from #194, which was reverted in #231 due to in order to properly handle schema versioning (see #230).

  • 0c60c49: cherry-pick of Add support for quaternion in URDF #194 (with a minor whitespace fix)
  • 783122f: specify required version of urdfdom_headers in cmake find_package call
  • 93dc23d: updates the schema to indicate that version 1.1 is supported (more schema documentation / changelog needed)
  • 23ccaff: adds comparison helpers to URDFVersion and updates the parsing logic to allow version 1.1
  • 79e8067: pass URDFVersion object to link, joint, and other parsing functions
  • 583cb83: change quat_xyzw parsing logic based on URDFVersion and add tests

cc @saikishor

@scpeters scpeters mentioned this pull request Dec 10, 2025
Open
@scpeters
Copy link
Contributor Author

scpeters commented Dec 17, 2025

the cmake package version for urdfdom_headers wasn't updated for the 2.0.0 release. I've opened ros/urdfdom_headers#92 to fix the version syncing issue for future releases and will tag a new release

@scpeters scpeters mentioned this pull request Dec 19, 2025
Merged
@scpeters scpeters force-pushed the scpeters/quaternion_with_schema_versioning branch from 76ef1e7 to fc87c34 Compare December 22, 2025 22:27
doisyg and others added 6 commits December 22, 2025 14:33
@doisyg @scpeters
Quaternion in urdf (PR123 new attempt) (#194)
0c60c49 
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
@scpeters
Require version 2.0.2 of urdfdom_headers
783122f 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Increment version to 1.1 in schema
93dc23d 
Update version in xml comment and add version
attribute to xs:schema tag.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
urdf_parser: allow schema version 1.1
23ccaff 
This adds URDFVersion comparison helpers with tests
and updates the parser to allow parsing version 1.1.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Pass URDFVersion to parsing functions
79e8067 
* Add URDFVersion constructor that accepts two integers
* Create URDFVersion object in correct scope to pass
  to parsing functions
* Pass URDFVersion argument to parsing functions

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Only parse quat_xyzw with at least version 1.1
583cb83 
Update logic in parsePoseInternal to ignore
quat_xyzw if specified version is not new enough,
but print a warning message if any are detected.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters force-pushed the scpeters/quaternion_with_schema_versioning branch from bc22c73 to 583cb83 Compare December 22, 2025 22:39
@scpeters scpeters requested a review from clalancette December 22, 2025 22:42
@scpeters scpeters marked this pull request as ready for review December 22, 2025 22:43
@scpeters scpeters requested review from ahcorde and sloretz December 22, 2025 22:43
@scpeters
Copy link
Contributor Author

scpeters commented Dec 22, 2025

CI currently fails since the required version of urdfdom_headers is not available; I've tested it by building from source

@ahcorde
Copy link
Contributor

ahcorde commented Dec 23, 2025

Pulls: #235
Gist: https://gist.githubusercontent.com/ahcorde/5861b2520b00fd635e36f8ad8a2bcd44/raw/a6b5f30ae357d48b7eda5e132142f12743dac17a/ros2.repos
BUILD args: --packages-above-and-dependencies urdfdom
TEST args: --packages-above urdfdom
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17842

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@scpeters scpeters mentioned this pull request Dec 23, 2025
Open
@ahcorde ahcorde merged commit 4caee7c into rolling Dec 26, 2025
2 of 9 checks passed
@ahcorde ahcorde deleted the scpeters/quaternion_with_schema_versioning branch December 26, 2025 11:34
@scpeters
Copy link
Contributor Author

scpeters commented Dec 31, 2025

The ci.ros2.org job succeeded but the GitHub workflows failed since they have old versions of urdfdom_headers. We should fix or disable these broken CI jobs

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@ahcorde ahcorde ahcorde approved these changes

@clalancette clalancette Awaiting requested review from clalancette

@sloretz sloretz Awaiting requested review from sloretz

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

4 participants

@scpeters @ahcorde @doisyg