added group attribute to <sensor> tag

Author: rhaschke

urdf_parser/include/urdf_parser/utils.h

@@ -41,6 +41,7 @@
 
 namespace urdf {
 
+/* attribute parsing is accomplished by boost::lexical_cast by default */
 template <typename T>
 T parseAttribute(const char* value);
 
@@ -62,6 +63,10 @@ inline unsigned int parseAttribute<unsigned int>(const char* value)
   return std::stoul(value);
 }
 
+/** Check existence of an attribute called attr and parse its values as T.
+ *  If there is no such attribute, return *default_value if not NULL.
+ *  Otherwise throw a ParseError.
+ */
 template <typename T>
 T parseAttribute(const TiXmlElement &tag, const char* attr, const T* default_value=NULL)
 {

urdf_parser/src/sensor_parser.cpp

@@ -38,6 +38,7 @@
 #include "urdf_parser/sensor_parser.h"
 
 #include "urdf_parser/pose.h"
+#include "urdf_parser/utils.h"
 #include <urdf_sensor/camera.h>
 #include <urdf_sensor/ray.h>
 #include <console_bridge/console.h>
@@ -84,13 +85,15 @@ bool parseSensor(Sensor &sensor, TiXmlElement* config, const SensorParserMap &pa
 {
   sensor.clear();
 
-  const char *name_char = config->Attribute("name");
-  if (!name_char)
-  {
-    CONSOLE_BRIDGE_logError("No name given for the sensor.");
+  try {
+    const std::string empty;
+    sensor.name_ = parseAttribute<std::string>(*config, "name");
+    sensor.group_ = parseAttribute<std::string>(*config, "group", &empty);
+  } catch (const std::exception &e) {
+    CONSOLE_BRIDGE_logError("Failed to parse sensor attributes: %s", e.what());
     return false;
   }
-  sensor.name_ = std::string(name_char);
+
 
   // parse parent link name
   TiXmlElement *parent_xml = config->FirstChildElement("parent");

urdf_parser/test/basic.urdf

@@ -6,14 +6,14 @@
     <parent link="link1" />
     <child link="link2" />
   </joint>
-  <sensor name="camera1" update_rate="20">
+  <sensor name="camera1" group="head" update_rate="20">
     <parent link="link1"/>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <camera>
       <image width="640" height="480" hfov="1.5708" format="RGB8" near="0.01" far="50.0"/>
     </camera>
   </sensor>
-  <sensor name="ray1" update_rate="20">
+  <sensor name="ray1" group="head" update_rate="20">
     <parent link="link1"/>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <ray>