Added commom linters

urdf/CMakeLists.txt

@@ -79,18 +79,8 @@ install(DIRECTORY include/
   DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_cppcheck REQUIRED)
-  find_package(ament_cmake_cpplint REQUIRED)
-  find_package(ament_cmake_google_benchmark REQUIRED)
-  find_package(ament_cmake_lint_cmake REQUIRED)
-  find_package(ament_cmake_uncrustify REQUIRED)
-  # This forces cppcheck to consider all files in this project to be C++,
-  # including the headers which end with .h, which cppcheck would normally
-  # consider to be C instead.
-  ament_cppcheck(LANGUAGE "c++")
-  ament_cpplint()
-  ament_lint_cmake()
-  ament_uncrustify(LANGUAGE "C++")
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
   pluginlib_enable_plugin_testing(
     CMAKE_TARGET_VAR mock_install_target
@@ -108,6 +98,15 @@ if(BUILD_TESTING)
     urdf
   )
   add_dependencies(plugin_overhead "${mock_install_target}")
+
+  add_definitions(-D_TEST_RESOURCES_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/")
+
+  ament_add_gtest(test_robot_model_parser
+    test/test_robot_model_parser.cpp
+  )
+  if(TARGET test_robot_model_parser)
+    target_link_libraries(test_robot_model_parser ${PROJECT_NAME} rcutils::rcutils)
+  endif()
 endif()
 
 # Export old-style CMake variables

urdf/include/urdf/model.h

@@ -1,89 +1,41 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 /* Author: Wim Meeussen */
 
 #ifndef URDF__MODEL_H_
 #define URDF__MODEL_H_
 
-#include <memory>
-#include <string>
+#warning \
+  This header is obsolete, please include \
+  urdf/model.hpp instead
 
-#include "urdf_model/model.h"
-
-#include "urdf/urdfdom_compatibility.h"
-#include "urdf/visibility_control.hpp"
-
-namespace urdf
-{
-
-// PIMPL Forward Declaration
-class ModelImplementation;
-
-/// \brief Populates itself based on a robot descripton
-///
-/// This class uses `urdf_parser_plugin` to parse the given robot description.
-/// The chosen plugin is the one that reports the most confident score.
-/// There is no way to override this choice except by uninstalling undesirable
-/// parser plugins.
-class Model : public ModelInterface
-{
-public:
-  URDF_EXPORT
-  Model();
-
-  URDF_EXPORT
-  ~Model();
-
-  URDF_EXPORT Model(const Model & other);
-  URDF_EXPORT Model & operator=(const Model & other);
-  URDF_EXPORT Model(Model && other) noexcept;
-  URDF_EXPORT Model & operator=(Model && other)noexcept;
-
-  /// \brief Load Model given a filename
-  URDF_EXPORT bool initFile(const std::string & filename);
-
-  /// \brief Load Model from a XML-string
-  URDF_EXPORT bool initString(const std::string & xmlstring);
-
-private:
-  std::unique_ptr<ModelImplementation> impl_;
-};
-
-// shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
-// std::shared_ptrs in latest version
-
-}  // namespace urdf
+#include <urdf/model.hpp>
 
 #endif  // URDF__MODEL_H_

urdf/include/urdf/model.hpp

@@ -0,0 +1,84 @@
+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/* Author: Wim Meeussen */
+
+#ifndef URDF__MODEL_HPP_
+#define URDF__MODEL_HPP_
+
+#include <memory>
+#include <string>
+
+#include "urdf_model/model.h"
+
+#include "urdf/urdfdom_compatibility.h"
+#include "urdf/visibility_control.hpp"
+
+namespace urdf
+{
+
+// PIMPL Forward Declaration
+class ModelImplementation;
+
+/// \brief Populates itself based on a robot descripton
+///
+/// This class uses `urdf_parser_plugin` to parse the given robot description.
+/// The chosen plugin is the one that reports the most confident score.
+/// There is no way to override this choice except by uninstalling undesirable
+/// parser plugins.
+class Model : public ModelInterface
+{
+public:
+  URDF_EXPORT
+  Model();
+
+  URDF_EXPORT
+  ~Model();
+
+  URDF_EXPORT Model(const Model & other);
+  URDF_EXPORT Model & operator=(const Model & other);
+  URDF_EXPORT Model(Model && other) noexcept;
+  URDF_EXPORT Model & operator=(Model && other)noexcept;
+
+  /// \brief Load Model given a filename
+  URDF_EXPORT bool initFile(const std::string & filename);
+
+  /// \brief Load Model from a XML-string
+  URDF_EXPORT bool initString(const std::string & xmlstring);
+
+private:
+  std::unique_ptr<ModelImplementation> impl_;
+};
+
+// shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
+// std::shared_ptrs in latest version
+
+}  // namespace urdf
+
+#endif  // URDF__MODEL_HPP_

urdf/include/urdf/visibility_control.hpp

@@ -1,36 +1,31 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2017, Open Source Robotics Foundation, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the copyright holder nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+// Copyright (c) 2017, Willow Garage, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 /* This header must be included by all urdf headers which declare symbols
  * which are defined in the urdf library. When not building the urdf

urdf/src/model.cpp

@@ -1,40 +1,35 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 /* Author: Wim Meeussen */
 
-#include "urdf/model.h"
+#include "urdf/model.hpp"
 
 #include <cassert>
 #include <fstream>
@@ -44,7 +39,7 @@
 #include <utility>
 #include <vector>
 
-#include "urdf_parser_plugin/parser.h"
+#include "urdf_parser_plugin/parser.hpp"
 #include "pluginlib/class_loader.hpp"
 
 // Windows has preprocessor defines for "max", which conflicts with