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Signed-off-by: Michał <[email protected]>

Gems/ROS2/Code/Source/RobotImporter/FixURDF/FixURDF.cpp

@@ -1,10 +1,10 @@
 /*
-* Copyright (c) Contributors to the Open 3D Engine Project.
-* For complete copyright and license terms please see the LICENSE at the root of this distribution.
-*
-* SPDX-License-Identifier: Apache-2.0 OR MIT
-*
-*/
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
 
 #include "FixURDF.h"
 #include <AzCore/XML/rapidxml_print.h>
@@ -25,9 +25,8 @@ namespace ROS2::Utils
             }
         }
 
-        for (auto * link : links)
+        for (auto* link : links)
         {
-
             xml_node<>* inertial = urdf->document()->allocate_node(node_element, "inertial");
 
             xml_node<>* mass = urdf->document()->allocate_node(node_element, "mass");
@@ -59,7 +58,6 @@ namespace ROS2::Utils
                 modifiedLinks.push_back(name->value());
             }
             link->append_node(inertial);
-
         }
 
         return modifiedLinks;
@@ -90,17 +88,18 @@ namespace ROS2::Utils
                     linkAndJointsName.insert(newName);
                     modifiedLinks.push_back(newName);
                 }
-                else{
+                else
+                {
                     linkAndJointsName.insert(name->value());
                 }
-
             }
         }
         return modifiedLinks;
     }
 
-    std::string ModifyURDFInMemory(const std::string& data)
+    AZStd::pair<std::string, AZStd::vector<AZStd::string>> ModifyURDFInMemory(const std::string& data)
     {
+        AZStd::vector<AZStd::string> modifiedElements;
         using namespace AZ::rapidxml;
         xml_document<> doc;
         doc.parse<0>(const_cast<char*>(data.c_str()));
@@ -112,7 +111,8 @@ namespace ROS2::Utils
             AZ_Warning("ROS2", false, "Added missing inertia to links: ");
             for (auto& link : links)
             {
-                    AZ_Warning("ROS2", false, "  -> %s", link.c_str());
+                modifiedElements.push_back(link);
+                AZ_Warning("ROS2", false, "  -> %s", link.c_str());
             }
         }
 
@@ -122,13 +122,14 @@ namespace ROS2::Utils
             AZ_Warning("ROS2", false, "Renamed duplicated links and joints: ");
             for (auto& dup : renames)
             {
-                    AZ_Warning("ROS2", false, "  -> %s", dup.c_str());
+                modifiedElements.push_back(dup);
+                AZ_Warning("ROS2", false, "  -> %s", dup.c_str());
             }
         }
 
         std::string xmlDocString;
         AZ::rapidxml::print(std::back_inserter(xmlDocString), *urdf, 0);
 
-        return xmlDocString;
+        return {xmlDocString, modifiedElements};
     }
 } // namespace ROS2::Utils

Gems/ROS2/Code/Source/RobotImporter/FixURDF/FixURDF.h

@@ -1,33 +1,35 @@
 /*
-* Copyright (c) Contributors to the Open 3D Engine Project.
-* For complete copyright and license terms please see the LICENSE at the root of this distribution.
-*
-* SPDX-License-Identifier: Apache-2.0 OR MIT
-*
-*/
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
 
 #pragma once
 
 #include <AzCore/XML/rapidxml.h>
-#include <AzCore/std/string/string.h>
 #include <AzCore/std/containers/vector.h>
-
+#include <AzCore/std/string/string.h>
 
 namespace ROS2
 {
-   namespace Utils
-   {
-       //! Modifies in memory URDF to add missing inertia to links, circle navigate SDF error 19
-       //! @param urdf - the in memory URDF to modify
-       //! @returns a list of links that were modified
-       AZStd::vector<AZStd::string> AddMissingInertiaToLink(AZ::rapidxml::xml_node<>* urdf);
+    namespace Utils
+    {
+        //! Modifies in memory URDF to add missing inertia to links, circle navigate SDF error 19
+        //! @param urdf - the in memory URDF to modify
+        //! @returns a list of links that were modified
+        AZStd::vector<AZStd::string> AddMissingInertiaToLink(AZ::rapidxml::xml_node<>* urdf);
 
-       //! Modifies names of links and joints to be unique, circle navigate SDF error 2
-       //! @param urdf - the in memory URDF to modify
-       //! @returns a list of links that were modified
-       AZStd::vector<AZStd::string> ChangeDuplications(AZ::rapidxml::xml_node<>* urdf);
+        //! Modifies names of links and joints to be unique, circle navigate SDF error 2
+        //! @param urdf - the in memory URDF to modify
+        //! @returns a list of links that were modified
+        AZStd::vector<AZStd::string> ChangeDuplications(AZ::rapidxml::xml_node<>* urdf);
 
-       std::string ModifyURDFInMemory(const std::string& data);
+        //! Modifies in memory URDF to add missing elements
+        //! @param urdf - the in memory URDF to modify
+        //! @returns a modified URDF and a list of XML element that were modified
+        AZStd::pair<std::string, AZStd::vector<AZStd::string>> ModifyURDFInMemory(const std::string& data);
 
-   } // namespace Utils
+    } // namespace Utils
 } // namespace ROS2

Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.cpp

@@ -14,6 +14,7 @@ namespace ROS2
     CheckUrdfPage::CheckUrdfPage(QWizard* parent)
         : QWizardPage(parent)
         , m_success(false)
+        , m_warning(false)
     {
         m_log = new QTextEdit(this);
         setTitle(tr("URDF opening results:"));
@@ -24,15 +25,21 @@ namespace ROS2
         setLayout(layout);
     }
 
-    void CheckUrdfPage::ReportURDFResult(const QString& status, bool isSuccess)
+    void CheckUrdfPage::ReportURDFResult(const QString& status, bool isSuccess, bool isWarning)
     {
         m_log->setMarkdown(status);
         m_success = isSuccess;
+        m_warning = isWarning;
         emit completeChanged();
     }
 
     bool CheckUrdfPage::isComplete() const
     {
         return m_success;
     }
+
+    bool CheckUrdfPage::isWarning() const
+    {
+        return m_warning;
+    }
 } // namespace ROS2

Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.h

@@ -22,12 +22,14 @@ namespace ROS2
         Q_OBJECT
     public:
         explicit CheckUrdfPage(QWizard* parent);
-        void ReportURDFResult(const QString& result, bool isSuccess);
+        void ReportURDFResult(const QString& result, bool isSuccess, bool isWarning = false);
         bool isComplete() const override;
+        bool isWarning() const;
 
     private:
         QTextEdit* m_log;
         QString m_fileName;
         bool m_success;
+        bool m_warning;
     };
 } // namespace ROS2

Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp

@@ -106,7 +106,7 @@ namespace ROS2
         sdf::ParserConfig parserConfig;
         parserConfig.URDFSetPreserveFixedJoint(sdfBuilderSettings.m_urdfPreserveFixedJoints);
 
-        auto parsedUrdfOutcome = UrdfParser::ParseFromFile(filePath, parserConfig);
+        auto parsedUrdfOutcome = UrdfParser::ParseFromFile(filePath, parserConfig, sdfBuilderSettings);
         if (!parsedUrdfOutcome)
         {
             const AZStd::string log = Utils::JoinSdfErrorsToString(parsedUrdfOutcome.GetSdfErrors());

Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp

@@ -12,15 +12,15 @@
 #include <AzCore/Utils/Utils.h>
 
 #include "RobotImporterWidget.h"
+#include <QApplication>
+#include <QScreen>
+#include <QTranslator>
 #include <SdfAssetBuilder/SdfAssetBuilderSettings.h>
 #include <URDF/URDFPrefabMaker.h>
 #include <URDF/UrdfParser.h>
+#include <Utils/ErrorUtils.h>
 #include <Utils/FilePath.h>
 #include <Utils/RobotImporterUtils.h>
-#include <Utils/ErrorUtils.h>
-#include <QApplication>
-#include <QScreen>
-#include <QTranslator>
 
 namespace ROS2
 {
@@ -119,8 +119,7 @@ namespace ROS2
                         report += "```\n";
                         if (outcome.m_logErrorOutput.size())
                         {
-                            report +=
-                                QString::fromUtf8(outcome.m_logErrorOutput.data(), static_cast<int>(outcome.m_logErrorOutput.size()));
+                            report += QString::fromUtf8(outcome.m_logErrorOutput.data(), static_cast<int>(outcome.m_logErrorOutput.size()));
                         }
                         else
                         {
@@ -131,8 +130,8 @@ namespace ROS2
                         report += "```\n";
                         if (outcome.m_logStandardOutput.size())
                         {
-                            report += QString::fromUtf8(
-                                outcome.m_logStandardOutput.data(), static_cast<int>(outcome.m_logStandardOutput.size()));
+                            report +=
+                                QString::fromUtf8(outcome.m_logStandardOutput.data(), static_cast<int>(outcome.m_logStandardOutput.size()));
                         }
                         else
                         {
@@ -147,21 +146,36 @@ namespace ROS2
             else if (Utils::IsFileUrdf(m_urdfPath))
             {
                 // standard URDF
-                parsedUrdfOutcome = UrdfParser::ParseFromFile(m_urdfPath, parserConfig);
+                parsedUrdfOutcome = UrdfParser::ParseFromFile(m_urdfPath, parserConfig, sdfBuilderSettings);
             }
             else
             {
                 AZ_Assert(false, "Unknown file extension : %s \n", m_urdfPath.c_str());
             }
             AZStd::string log;
             bool urdfParsedSuccess{ parsedUrdfOutcome };
+            bool urdfParsedWithWarnings{ parsedUrdfOutcome.m_modifiedURDFContent.size() > 0};
             if (urdfParsedSuccess)
             {
+                if (urdfParsedWithWarnings)
+                {
+                    report += "# " + tr("The URDF was parsed, but it was modified to be compatible") + "\n";
+                    report += tr("Modified tags in URDF:") + "\n";
+                    for (const auto& modifiedTag : parsedUrdfOutcome.m_modifiedURDFTags)
+                    {
+                        report += " - " + QString::fromUtf8(modifiedTag.data(), static_cast<int>(modifiedTag.size())) + "\n";
+                    }
+                    report += "\n# "+tr("The modified URDF code:") + "\n";
+                    report += "```\n" + QString::fromStdString(parsedUrdfOutcome.m_modifiedURDFContent) + "```\n";
+                }
+                else
+                {
+                    report += "# " + tr("The URDF was parsed and opened successfully") + "\n";
+                    AZ_Printf("Wizard", "Wizard skips m_checkUrdfPage since there is no errors in URDF\n");
+                }
                 m_parsedUrdf = AZStd::move(parsedUrdfOutcome.GetRoot());
-                report += "# " + tr("The URDF was parsed and opened successfully") + "\n";
                 m_prefabMaker.reset();
                 // Report the status of skipping this page
-                AZ_Printf("Wizard", "Wizard skips m_checkUrdfPage since there is no errors in URDF\n");
                 m_meshNames = Utils::GetMeshesFilenames(&m_parsedUrdf, true, true);
                 m_assetPage->ClearAssetsList();
             }
@@ -177,7 +191,7 @@ namespace ROS2
                 report += QString::fromUtf8(log.data(), int(log.size()));
                 report += "`";
             }
-            m_checkUrdfPage->ReportURDFResult(report, urdfParsedSuccess);
+            m_checkUrdfPage->ReportURDFResult(report, urdfParsedSuccess, urdfParsedWithWarnings);
         }
     }
 
@@ -319,8 +333,7 @@ namespace ROS2
         if (currentPage() == m_xacroParamsPage)
         {
             m_params = m_xacroParamsPage->GetXacroParameters();
-            if (const bool isFileUrdfOrXacro = Utils::IsFileXacro(m_urdfPath) || Utils::IsFileUrdf(m_urdfPath);
-                isFileUrdfOrXacro)
+            if (const bool isFileUrdfOrXacro = Utils::IsFileXacro(m_urdfPath) || Utils::IsFileUrdf(m_urdfPath); isFileUrdfOrXacro)
             {
                 OpenUrdf();
             }
@@ -350,6 +363,10 @@ namespace ROS2
     {
         if ((currentPage() == m_fileSelectPage && m_params.empty()) || currentPage() == m_xacroParamsPage)
         {
+            if (m_parsedUrdf.Model() != nullptr && m_checkUrdfPage->isWarning())
+            {
+                return m_xacroParamsPage->nextId();
+            }
             if (m_parsedUrdf.Model() != nullptr && m_checkUrdfPage->isComplete())
             {
                 if (m_meshNames.size() == 0)

Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.cpp

@@ -14,6 +14,7 @@
 #include <AzCore/std/string/string.h>
 #include <RobotImporter/FixURDF/FixURDF.h>
 #include <RobotImporter/Utils/ErrorUtils.h>
+#include <RobotImporter/Utils/FilePath.cpp>
 
 namespace ROS2::UrdfParser
 {
@@ -26,8 +27,7 @@ namespace ROS2::UrdfParser
         // @param consoleStream Reference to sdf::Console::ConsoleStream whose
         //        output will be redirected
         // @param redirectStream reference to stream where console stream output is redirected to
-        RedirectSDFOutputStream(sdf::Console::ConsoleStream& consoleStream,
-            std::ostream& redirectStream)
+        RedirectSDFOutputStream(sdf::Console::ConsoleStream& consoleStream, std::ostream& redirectStream)
             : m_consoleStreamRef(consoleStream)
             , m_origConsoleStream(consoleStream)
         {
@@ -51,7 +51,7 @@ namespace ROS2::UrdfParser
     {
         return m_root;
     }
-    const sdf::Root& ParseResult::GetRoot() const &
+    const sdf::Root& ParseResult::GetRoot() const&
     {
         return m_root;
     }
@@ -106,7 +106,8 @@ namespace ROS2::UrdfParser
         return parseResult;
     }
 
-    RootObjectOutcome ParseFromFile(AZ::IO::PathView filePath, const sdf::ParserConfig& parserConfig)
+    RootObjectOutcome ParseFromFile(
+        AZ::IO::PathView filePath, const sdf::ParserConfig& parserConfig, const SdfAssetBuilderSettings& settings)
     {
         // Store path in a AZ::IO::FixedMaxPath which is stack based structure that provides memory
         // for the path string and is null terminated.
@@ -117,15 +118,24 @@ namespace ROS2::UrdfParser
         {
             auto fileNotFoundMessage = AZStd::fixed_string<1024>::format("File %.*s does not exist", AZ_PATH_ARG(urdfFilePath));
             ParseResult fileNotFoundResult;
-            fileNotFoundResult.m_sdfErrors.emplace_back(sdf::ErrorCode::FILE_READ,
-                        std::string{ fileNotFoundMessage.c_str(), fileNotFoundMessage.size() },
-                        std::string{ urdfFilePath.c_str(), urdfFilePath.Native().size() });
+            fileNotFoundResult.m_sdfErrors.emplace_back(
+                sdf::ErrorCode::FILE_READ,
+                std::string{ fileNotFoundMessage.c_str(), fileNotFoundMessage.size() },
+                std::string{ urdfFilePath.c_str(), urdfFilePath.Native().size() });
             return fileNotFoundResult;
         }
 
         std::string xmlStr((std::istreambuf_iterator<char>(istream)), std::istreambuf_iterator<char>());
         // modify in memory
-        std::string xmlStrChanged = (ROS2::Utils::ModifyURDFInMemory(xmlStr));
-        return Parse(xmlStrChanged, parserConfig);
+        if (Utils::IsFileUrdf(filePath) && settings.m_fixURDF)
+        {
+            const auto& [modifiedXmlStr, modifiedElements] = (ROS2::Utils::ModifyURDFInMemory(xmlStr));
+
+            auto result = Parse(modifiedXmlStr, parserConfig);
+            result.m_modifiedURDFTags = modifiedElements;
+            result.m_modifiedURDFContent = modifiedXmlStr;
+            return result;
+        }
+        return Parse(xmlStr, parserConfig);
     }
-} // namespace ROS2
+} // namespace ROS2::UrdfParser