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Skip serializing nested model with //pose/@relative_to attribute #1454

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merged 6 commits into from
May 3, 2022
Merged

Skip serializing nested model with //pose/@relative_to attribute #1454

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d1664a6
skip serializing nested model with pose relative_to attribute
iche033 Apr 20, 2022
97d55a4
Merge branch 'ign-gazebo6' into skip_serialize_model
iche033 Apr 20, 2022
7adead5
Merge branch 'ign-gazebo6' into skip_serialize_model
iche033 Apr 21, 2022
c5725b8
Merge branch 'ign-gazebo6' into skip_serialize_model
iche033 May 2, 2022
91d77a5
expand comment
iche033 May 2, 2022
716512d
Merge branch 'ign-gazebo6' into skip_serialize_model
iche033 May 3, 2022
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27 changes: 24 additions & 3 deletions include/ignition/gazebo/components/Model.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -46,13 +46,34 @@ namespace serializers
sdf::ElementPtr modelElem = _model.Element();
if (!modelElem)
{
ignerr << "Unable to serialize sdf::Model" << std::endl;
ignwarn << "Unable to serialize sdf::Model" << std::endl;
return _out;
}

bool skip = false;
if (modelElem->HasElement("pose"))
{
sdf::ElementPtr poseElem = modelElem->GetElement("pose");
if (poseElem->HasAttribute("relative_to"))
{
// Skip serializing models with //pose/@relative_to attribute
// since deserialization will fail. This could be a nested model.
// see https://github.com/ignitionrobotics/ign-gazebo/issues/1071
static bool warned = false;
if (!warned)
{
ignwarn << "Skipping serialization / deserialization for models "
<< "with //pose/@relative_to attribute."
<< std::endl;
warned = true;
}
skip = true;
}
}

_out << "<?xml version=\"1.0\" ?>"
<< "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
<< modelElem->ToString("")
<< (skip ? std::string() : modelElem->ToString(""))
<< "</sdf>";
return _out;
}
Expand All @@ -70,7 +91,7 @@ namespace serializers
sdf::Errors errors = root.LoadSdfString(sdf);
if (!root.Model())
{
ignerr << "Unable to unserialize sdf::Model" << std::endl;
ignwarn << "Unable to deserialize sdf::Model" << std::endl;
return _in;
}

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