Upgrade to SDFormat10 #48

varunagrawal · 2021-03-15T04:50:53Z

This PR upgrades from the deprecated SDFormat8 to SDFormat9. Closes #36 and #26.

This upgrade had a bunch of breaking changes, but upgrading to SDFormat10 should not have any hassle. ~~I haven't used SDFormat10 since the docs still seem to be in dev mode rather than a final release.~~ SDFormat10 has an official release.

dellaert

We need to resolve the joint representation issue first, as discussed.

varunagrawal · 2021-03-16T02:44:00Z

Cool! I am just glad we have an upgrade in place so the next steps should be pretty straightforward. 🙂

PS also gave me a chance to really understand the SDFormat API.

yetongumich

I think the readme file on the installation of sdformat should also be updated for sdformat9

yetongumich

Tested it and it works. Note that the installation for sdformat9 no longer requires brew. You can simply install it with:

sudo apt-get install libsdformat9-dev

dellaert · 2021-03-17T02:13:45Z

Sorry, but no, we should hold off on this. We discussed this in GTDynamics meeting on Monday.

Alescontrela · 2021-03-28T21:00:02Z

Tested it and it works. Note that the installation for sdformat9 no longer requires brew. You can simply install it with:

sudo apt-get install libsdformat9-dev

I think Mac users still require Brew to install SDFormat (osx's apt-get equivalent is Homebrew).

varunagrawal · 2021-03-28T21:34:33Z

Homebrew is available for Mac and Linux so using brew should be the default. I also hate how apt-get doesn't give you the choice of version: if only sdformat8 is configured as available, you can't switch to sdformat9 without compiling from source or adding some random PPA which ruins the whole point of apt.

Alescontrela · 2021-03-28T21:49:46Z

Yeah that's the main reason I chose SDFormat 8 and not 9 when implementing UniversalRobot v.1. with Yetong. Installing SDFormat 9 on Linux is very tedious, but easier with Brew.

varunagrawal · 2021-04-03T16:32:40Z

I just tested out loading a URDF with mesh info (e.g. fetch.urdf, anymal_b.urdf) and it works great with SDFormat10. No core dump or any changes needed to the URDF file.

varunagrawal · 2021-08-03T14:15:27Z

@dellaert can we merge this in soon? I know we discussed making the joint and link representations follow SDFormat better, but that is currently a tangential issue since we can upgrade SDFormat and then later continue on that. Merging this PR doesn't break anything, and since there's no movement happening on the representation update, this PR is sitting in limbo for almost half a year.

Currently, this is blocking the CI since brew install sdformat8 has an issue on ubuntu 18.04 and no debian package exists for sdformat8 (we have them for sdformat 6, 9, 10 and 11).

varunagrawal · 2021-08-03T20:05:14Z

@dellaert I looked at the changes of this PR and the changes are consistent with the correct understanding of link and joint coordinate frames.

dellaert

Ask for a review again after changes :-)

gtdynamics/universal_robot/sdf.cpp

dellaert

Getting there.

dellaert · 2021-08-04T15:45:01Z

gtdynamics/universal_robot/sdf.cpp

+
+  // Get the pose of the joint in the parent or child link's frame depending on
+  // the value of `frame_name`.
+  Pose3 lTj = Pose3FromIgnition(sdf_joint.RawPose());


But, it's not lTj. We don't know that yet... Re-read my comments? :-)

The SDF spec mentions that all joint raw poses are with respect to the parent (or in some cases, the child) link's frame. This depends on what relative_to is set to for the joint. Here are the docs.

I understand. So whether it is lTj is not known yet, hence my comment.

But it is known. It's known from the definition of the SDF file.

Just need this last one resolved. Should I rename it to raw_pose?

gtdynamics/universal_robot/sdf.cpp

tests/testSdf.cpp

dellaert

Approve module those 3 comments

dellaert · 2021-08-04T20:37:05Z

gtdynamics/universal_robot/sdf.cpp

+
+  // Get the pose of the joint in the parent or child link's frame depending on
+  // the value of `frame_name`.
+  Pose3 lTj = Pose3FromIgnition(sdf_joint.RawPose());


I understand. So whether it is lTj is not known yet, hence my comment.

tests/testSdf.cpp

varunagrawal · 2021-08-04T23:31:25Z

Merging this. @dellaert we can discuss the last comment on lTj and address it in a future PR.

varunagrawal added 4 commits March 14, 2021 22:37

Upgrade to SDFormat9

6ce0ec5

update API to sdformat9

b672902

better transform naming convention

0487709

formatting

80ca1bd

varunagrawal added feature New feature or request high priority High priority task item labels Mar 15, 2021

varunagrawal requested review from dellaert and yetongumich March 15, 2021 04:50

varunagrawal self-assigned this Mar 15, 2021

varunagrawal linked an issue Mar 15, 2021 that may be closed by this pull request

SDFormat8 Deprecated. Upgrade to SDFormat 9 or 10 recommended. #26

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dellaert requested changes Mar 15, 2021

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yetongumich requested changes Mar 16, 2021

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dellaert removed the high priority High priority task item label Mar 17, 2021

varunagrawal added 2 commits March 16, 2021 21:49

Merge branch 'master' into feature/sdformat9

7b25c8e

Update last remnants of sdformat8 to sdformat9

ee3b723

yetongumich approved these changes Mar 17, 2021

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varunagrawal mentioned this pull request Mar 22, 2021

urdf reading core dump #12

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varunagrawal linked an issue Mar 22, 2021 that may be closed by this pull request

urdf reading core dump #12

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varunagrawal added 2 commits March 30, 2021 11:33

Merge branch 'master' into feature/sdformat9

116df06

fix tests

dc21a01

varunagrawal removed a link to an issue Mar 30, 2021

urdf reading core dump #12

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varunagrawal mentioned this pull request Apr 2, 2021

Miscellaneous fixes #111

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varunagrawal added the high priority High priority task item label Apr 2, 2021

varunagrawal added 2 commits April 2, 2021 17:41

get SDFormat11 compiling

5af6ed4

Merge branch 'master' into feature/sdformat9

568398a

go back to sdformat10 which is largely compatible

da1d292

varunagrawal added 2 commits July 25, 2021 15:47

Merge branch 'master' into feature/sdformat9

265a400

update CMake and README

18a1149

varunagrawal changed the title ~~Upgrade to SDFormat9~~ Upgrade to SDFormat10 Jul 25, 2021

varunagrawal linked an issue Jul 25, 2021 that may be closed by this pull request

document install sdf-format9 #104

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varunagrawal mentioned this pull request Jul 25, 2021

document install sdf-format9 #104

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remove ContactStateEstimator file

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dellaert requested changes Aug 3, 2021

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address review comments

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varunagrawal requested a review from dellaert August 3, 2021 21:53

dellaert requested changes Aug 4, 2021

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varunagrawal added 2 commits August 4, 2021 15:25

Rename test category to Sdf

4991a40

refactor pose names

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varunagrawal requested a review from dellaert August 4, 2021 20:29

dellaert approved these changes Aug 4, 2021

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use standard naming convention for link poses

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varunagrawal requested a review from dellaert August 4, 2021 22:58

varunagrawal merged commit 11f183b into master Aug 4, 2021

varunagrawal deleted the feature/sdformat9 branch August 4, 2021 23:31

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Upgrade to SDFormat10 #48

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Upgrade to SDFormat10 #48

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