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Sensor parsing #5
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seanyen
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seanyen
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- crashes on exit: ros/class_loader#33 - on-demand-unloading works with ros/class_loader#34
Destroy class loader only after instances of parsers.
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Thank you for the PR! Unfortunately I don't think we should merge this one. ROS Noetic will reach end-of-life on May 31st, 2025. Every change comes with a risk of introducing regressions, and there isn't much time left to fix them. I think the remaining time needs to be allocated towards bug fixes and compatibility with newer Ubuntu distros, so I'm closing pull requests that add features. |
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This is a rebase of ros/robot_model#125 to this new, relocated repo.
The PR enables generic parsing of sensors from URDF. The idea is to extend sensor support beyond
CameraandRay, but to allow any custom sensor description with appropriate parsers provided via plugins. We use that mechanism for example to describe tactile sensors for our tactile toolbox. For a detailed motivation, please have a look at ros/urdfdom#84.This PR is only the very last in a whole series of PRs also involving ros/urdfdom_headers#22 and ros/urdfdom#84. Hence, it cannot compile without those.
Example usage can be seen in the unittest of tactile_toolbox.