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fix error handling in material parsing #122

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fix error handling in material parsing #122

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2e9aaca
Cleanup error checking in model.cpp.
clalancette Nov 20, 2017
0ca9f22
Slightly cleanup link.cpp.
clalancette Nov 20, 2017
f7b6caf
Add in tests for new, more restrictive parsing.
clalancette Apr 16, 2018
f8b1870
Quiet down the tests.
clalancette Feb 7, 2019
44bfb21
Fix error handling in material parsing
rhaschke Feb 8, 2019
1ece7f5
Unify test expressions
rhaschke Apr 12, 2026
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15 changes: 5 additions & 10 deletions urdf_parser/src/link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -494,16 +494,14 @@ bool parseLink(Link &link, tinyxml2::XMLElement* config,

VisualSharedPtr vis;
vis.reset(new Visual());
if (parseVisual(*vis, vis_xml, version))
{
link.visual_array.push_back(vis);
}
else
if (!parseVisual(*vis, vis_xml, version))
{
vis.reset();
CONSOLE_BRIDGE_logError("Could not parse visual element for Link [%s]", link.name.c_str());
return false;
}

link.visual_array.push_back(vis);
}

// Visual (optional)
Expand All @@ -516,16 +514,13 @@ bool parseLink(Link &link, tinyxml2::XMLElement* config,
{
CollisionSharedPtr col;
col.reset(new Collision());
if (parseCollision(*col, col_xml, version))
{
link.collision_array.push_back(col);
}
else
if (!parseCollision(*col, col_xml, version))
{
col.reset();
CONSOLE_BRIDGE_logError("Could not parse collision element for Link [%s]", link.name.c_str());
return false;
}
link.collision_array.push_back(col);
}

// Collision (optional)
Expand Down
131 changes: 77 additions & 54 deletions urdf_parser/src/model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,19 @@ bool assignMaterial(const VisualSharedPtr& visual, ModelInterfaceSharedPtr& mode
return true;
}

bool operator==(const Material& lhs, const Material& rhs)
{
return lhs.texture_filename == rhs.texture_filename &&
lhs.color.r == rhs.color.r &&
lhs.color.g == rhs.color.g &&
lhs.color.b == rhs.color.b &&
lhs.color.a == rhs.color.a;
}
inline bool operator!=(const Material& lhs, const Material& rhs)
{
return !(lhs == rhs);
}

ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
{
ModelInterfaceSharedPtr model(new ModelInterface);
Expand Down Expand Up @@ -152,27 +165,31 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
MaterialSharedPtr material;
material.reset(new Material);

bool success;
try {
parseMaterial(*material, material_xml, false); // material needs to be fully defined here
if (model->getMaterial(material->name))
{
CONSOLE_BRIDGE_logError("material '%s' is not unique.", material->name.c_str());
material.reset();
model.reset();
return model;
}
else
{
model->materials_.insert(make_pair(material->name,material));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
}
}
catch (ParseError &/*e*/) {
success = parseMaterial(*material, material_xml, false); // material needs to be fully defined here
} catch(ParseError & /*e*/) {
CONSOLE_BRIDGE_logError("material xml is not initialized correctly");

@saikishor saikishor Apr 10, 2026

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Suggested change
CONSOLE_BRIDGE_logError("material xml is not initialized correctly");
CONSOLE_BRIDGE_logError("Exception: material xml is not initialized correctly");

@rhaschke rhaschke Apr 12, 2026

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I didn't change the original error message for consistency. If you want to change it anyway, I suggest a more useful message:

Suggested change
CONSOLE_BRIDGE_logError("material xml is not initialized correctly");
CONSOLE_BRIDGE_logError("Error parsing material specification.");

The information that the error is originating from an exception (rather than the return value) is not relevant to a user, I think.

success = false;
}

if (success && material) {
if (const MaterialSharedPtr& other = model->getMaterial(material->name);
other && *material != *other)
{
CONSOLE_BRIDGE_logError("material '%s' is not unique.", material->name.c_str());
success = false;
}
}

if (!success) {
material.reset();
model.reset();
return model;
}

model->materials_.insert(make_pair(material->name,material));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
}

// Get all Link elements
Expand All @@ -181,37 +198,41 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
LinkSharedPtr link;
link.reset(new Link);

bool success;
try {
parseLink(*link, link_xml, version);
if (model->getLink(link->name))
{
CONSOLE_BRIDGE_logError("link '%s' is not unique.", link->name.c_str());
model.reset();
return model;
}
else
{
// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
assignMaterial(link->visual, model, link->name.c_str());
}
for (const auto& visual : link->visual_array)
{
assignMaterial(visual, model, link->name.c_str());
}

model->links_.insert(make_pair(link->name,link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
}
success = parseLink(*link, link_xml, version);
} catch (ParseError & /*e*/) {
success = false;
}
catch (ParseError &/*e*/) {

if (!success) {
CONSOLE_BRIDGE_logError("link xml is not initialized correctly");

@saikishor saikishor Apr 10, 2026

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Suggested change
CONSOLE_BRIDGE_logError("link xml is not initialized correctly");
CONSOLE_BRIDGE_logError("link : '%s' xml is not initialized correctly", link->name.c_str());

@rhaschke rhaschke Apr 12, 2026

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link is probably not well-defined here. Thus accessing its name will cause a segfault.

model.reset();
return model;
}

if (model->getLink(link->name))
{
CONSOLE_BRIDGE_logError("link '%s' is not unique.", link->name.c_str());
model.reset();
return model;
}

// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
assignMaterial(link->visual, model, link->name.c_str());
}
for (const auto& visual : link->visual_array)
{
assignMaterial(visual, model, link->name.c_str());
}

model->links_.insert(make_pair(link->name, link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
}

if (model->links_.empty()){
CONSOLE_BRIDGE_logError("No link elements found in urdf file");
model.reset();
Expand All @@ -224,26 +245,28 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
JointSharedPtr joint;
joint.reset(new Joint);

if (parseJoint(*joint, joint_xml, version))
{
if (model->getJoint(joint->name))
{
CONSOLE_BRIDGE_logError("joint '%s' is not unique.", joint->name.c_str());
model.reset();
return model;
}
else
{
model->joints_.insert(make_pair(joint->name,joint));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
}
bool success;
try {
success = parseJoint(*joint, joint_xml, version);
} catch(ParseError & /*e*/) {
success = false;
}
else
{

if (!success) {
CONSOLE_BRIDGE_logError("joint xml is not initialized correctly");
model.reset();
return model;
}

if (model->getJoint(joint->name))
{
CONSOLE_BRIDGE_logError("joint '%s' is not unique.", joint->name.c_str());
model.reset();
return model;
}

model->joints_.insert(make_pair(joint->name,joint));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
}


Expand Down
87 changes: 61 additions & 26 deletions urdf_parser/test/urdf_unit_test.cpp
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Expand Up @@ -27,19 +27,6 @@ bool quat_are_near(urdf::Rotation left, urdf::Rotation right)
std::abs(l[3] + r[3]) < epsilon);
}

std::ostream &operator<<(std::ostream &os, const urdf::Rotation& rot)
{
double roll, pitch, yaw;
double x, y, z, w;
rot.getRPY(roll, pitch, yaw);
rot.getQuaternion(x, y, z, w);
os << std::setprecision(9)
<< "x: " << x << " y: " << y << " z: " << z << " w: " << w
<< " roll: " << roll << " pitch: " << pitch << " yaw: "<< yaw;
return os;
}
Comment on lines -30 to -40

@saikishor saikishor Apr 10, 2026

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Any reason to remove this?

@rhaschke rhaschke Apr 12, 2026

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This was part of @clalancette's cleanup branch, which I built upon. The commit message and motivation was: "quiet down the tests" 😉



void check_get_set_rpy_is_idempotent(double x, double y, double z, double w)
{
urdf::Rotation rot0;
Expand All @@ -48,12 +35,6 @@ void check_get_set_rpy_is_idempotent(double x, double y, double z, double w)
rot0.getRPY(roll, pitch, yaw);
urdf::Rotation rot1;
rot1.setFromRPY(roll, pitch, yaw);
if (true) {
std::cout << "\n"
<< "before " << rot0 << "\n"
<< "after " << rot1 << "\n"
<< "ok " << quat_are_near(rot0, rot1) << "\n";
}
EXPECT_TRUE(quat_are_near(rot0, rot1));
}

Expand All @@ -66,12 +47,6 @@ void check_get_set_rpy_is_idempotent_from_rpy(double r, double p, double y)
urdf::Rotation rot1;
rot1.setFromRPY(roll, pitch, yaw);
bool ok = quat_are_near(rot0, rot1);
if (!ok) {
std::cout << "initial rpy: " << r << " " << p << " " << y << "\n"
<< "before " << rot0 << "\n"
<< "after " << rot1 << "\n"
<< "ok " << ok << "\n";
}
Comment on lines -69 to -74

@saikishor saikishor Apr 10, 2026

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Same here

EXPECT_TRUE(ok);
}

Expand Down Expand Up @@ -592,7 +567,6 @@ TEST(URDF_UNIT_TEST, parse_link_doubles)
EXPECT_EQ(0.908, urdf->links_["l1"]->inertial->izz);
}


TEST(URDF_UNIT_TEST, parse_color_doubles)
{
std::string joint_str =
Expand Down Expand Up @@ -666,6 +640,67 @@ TEST(URDF_UNIT_TEST, parse_color_doubles)
EXPECT_EQ(0.908, urdf->links_["l1"]->inertial->izz);
}

TEST(URDF_UNIT_TEST, material_no_name)
{
std::string joint_str =
"<robot name=\"test\">"
" <material/>"
" <link name=\"l1\"/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(joint_str);
ASSERT_EQ(nullptr, urdf);
}

TEST(URDF_UNIT_TEST, materials_no_rgb)
{
std::string urdf_str =
"<robot name=\"test\">"
" <material name=\"red\"/>"
" <link name=\"dummy\"/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);
EXPECT_FALSE(static_cast<bool>(urdf)); // different materials cause failure
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}

TEST(URDF_UNIT_TEST, duplicate_materials)
{
std::string urdf_str =
"<robot name=\"test\">"
" <material name=\"red\">"
" <color rgba=\"1 0 0 1\"/>"
" </material>"
" <material name=\"red\">"
" <color rgba=\"1 0 0 1\"/>"
" </material>"
" <link name=\"dummy\"/>"
"</robot>";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);
EXPECT_TRUE(static_cast<bool>(urdf)); // identical materials are fine
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urdf_str =
"<robot name=\"test\">"
" <material name=\"red\">"
" <color rgba=\"1 0 0 1\"/>"
" </material>"
" <material name=\"red\">"
" <color rgba=\"0 1 0 1\"/>"
" </material>"
" <link name=\"dummy\"/>"
"</robot>";
urdf = urdf::parseURDF(urdf_str);
EXPECT_FALSE(static_cast<bool>(urdf)); // different materials cause failure
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}

TEST(URDF_UNIT_TEST, link_no_name)
{
std::string joint_str =
"<robot name=\"test\">"
" <link/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(joint_str);
ASSERT_EQ(nullptr, urdf);
}

int main(int argc, char **argv)
{
Expand Down