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verified publisher icon clemense

CLI URDF Validation

Open Skylion007 opened this issue 4 years ago • 2 comments

It would be nice if the package also installed an executable script that could be used to validate URDFs (and return a non-zero exit code for unparsable URDFs). If it did this, it would make it easy to include as an automated CLI check to validate if the URDF is properly formatted.

Skylion007 avatar Jan 08 '22 17:01 Skylion007

Sounds good! Any ideas / expectations on what should constitute an "invalid" URDF? The closest that comes to mind is the ROS specification (which could be extracted from the docs: http://wiki.ros.org/urdf/XML/robot). But e.g. should proper file names (that reference meshes) also be tested?

clemense avatar Jan 09 '22 22:01 clemense

@clemense Testing other referenced assets would be nice, but I imagine it could be done as an optional feature (behind a flag).

Skylion007 avatar May 18 '22 15:05 Skylion007