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Use relative path in an urdf include to avoid confusion between internal and system headers #1259

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merged 5 commits into from
Aug 30, 2023
Merged

Use relative path in an urdf include to avoid confusion between internal and system headers #1259

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d976b86
Use relative include to prioritize the internal copy
j-rivero Mar 22, 2023
74b3337
Replace other occurrences of urdf_parser.h
j-rivero Apr 12, 2023
ed692cd
Merge branch 'sdf13' into jrivero/sdf13_relative_include
j-rivero Apr 12, 2023
ad05aa6
Detail why we use relative path in a single place
j-rivero Aug 30, 2023
ba8dd2c
Merge branch 'sdf13' into jrivero/sdf13_relative_include
j-rivero Aug 30, 2023
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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/check_urdf.cpp
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Expand Up @@ -35,7 +35,7 @@
/* Author: Wim Meeussen */
#pragma warning(push, 0)

#include "urdf_parser/urdf_parser.h"
#include "../urdf_parser/urdf_parser.h"
#include <iostream>
#include <fstream>

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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/joint.cpp
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Expand Up @@ -41,7 +41,7 @@
#include <urdf_model/joint.h>
// #include <console_bridge/console.h>
#include <tinyxml2.h>
#include <urdf_parser/urdf_parser.h>
#include "../urdf_parser/urdf_parser.h"

namespace urdf{

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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/link.cpp
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Expand Up @@ -35,7 +35,7 @@
/* Author: Wim Meeussen */
#pragma warning(push, 0)

#include <urdf_parser/urdf_parser.h>
#include "../urdf_parser/urdf_parser.h"
#include <urdf_model/link.h>
#include <fstream>
#include <sstream>
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6 changes: 5 additions & 1 deletion src/urdf/urdf_parser/model.cpp
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Expand Up @@ -36,7 +36,11 @@
#pragma warning(push, 0)

#include <vector>
#include "urdf_parser/urdf_parser.h"
// Use relative path to avoid confusion with urdf system headers (if present).
// The change to the relative path is only required to be present in this
// file given how MSVC include headers. See:
// https://github.com/gazebosim/sdformat/pull/1259/files#r1149821498
#include "../urdf_parser/urdf_parser.h"
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There are places (e.g., link.cpp) that have #include "urdf_parser/urdf_parser.h". Do those need to change as well?

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Since it is a private copy and we don't expect anyone to use these headers outside of our code, probably we don't need to. The compilation is working since the way for MSVC to include headers is curious: for the quoted form, the second priority after the same directory of the header, is

  1. In the directories of the currently opened include files, in the reverse order in which they were opened. The search begins in the directory of the parent include file and continues upward through the directories of any grandparent include files.

So if I'm not wrong the first file in the mix when compiling the library is model.cpp and it opens the right directory. That is the reason why we don't need to change more. Might be a good idea anyway to change other occurrences just in case that we (or the compiler) modifies the order of object code.

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That is interesting and curious indeed. We should definitely add your comment in the file (maybe just model.cpp) for future readers.

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+1 to a comment about why this is necessary

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done ad05aa6

// #include <console_bridge/console.h>
#include <fstream>

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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/pose.cpp
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Expand Up @@ -41,7 +41,7 @@
#include <algorithm>
// #include <console_bridge/console.h>
#include <tinyxml2.h>
#include <urdf_parser/urdf_parser.h>
#include "../urdf_parser/urdf_parser.h"

namespace urdf_export_helpers {

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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/urdf_to_graphiz.cpp
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Expand Up @@ -35,7 +35,7 @@
/* Author: Wim Meeussen */
#pragma warning(push, 0)

#include "urdf_parser/urdf_parser.h"
#include "../urdf_parser/urdf_parser.h"
#include <iostream>
#include <fstream>

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2 changes: 1 addition & 1 deletion src/urdf/urdf_parser/world.cpp
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Expand Up @@ -37,7 +37,7 @@

#include <urdf_world/world.h>
#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>
#include "../urdf_parser/urdf_parser.h"
#include <fstream>
#include <sstream>
#include <algorithm>
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