kdl_parser: switch from TinyXML to TinyXML2 (#4)

* kdl_parser: switch from TinyXML to TinyXML2

The library TinyXML is considered to be unmaintained and
since all future development is focused on TinyXML2 this
patch updates kdl_parser to use TinyXML2.

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

* Switch to using initString() for parsing in the TiXmlDocument API.

This gets rid of a deprecation message when building against
newer urdf.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Switch to const pointers for the tinyxml2 versions of the APIs.

This matches what we are doing in URDF and what tinyxml2 itself
does.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

kdl_parser/CMakeLists.txt

@@ -10,8 +10,9 @@ find_package(catkin REQUIRED
 )
 find_package(orocos_kdl REQUIRED)
 find_package(TinyXML REQUIRED)
+find_package(TinyXML2 REQUIRED)
 
-include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 link_directories(${catkin_LIBRARY_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
@@ -22,12 +23,12 @@ catkin_package(
   LIBRARIES ${PROJECT_NAME} ${orocos_kdl_LIBRARIES}
   INCLUDE_DIRS include
   CATKIN_DEPENDS rosconsole urdf
-  DEPENDS orocos_kdl TinyXML
+  DEPENDS orocos_kdl TinyXML TinyXML2
 )
 
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
 target_link_libraries(${PROJECT_NAME}
-  ${TinyXML_LIBRARIES} ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES}
+  ${TinyXML_LIBRARIES} ${TinyXML2_LIBRARIES} ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES}
 )
 
 if(WIN32)

kdl_parser/include/kdl_parser/kdl_parser.hpp

@@ -40,6 +40,7 @@
 #include <kdl/tree.hpp>
 #include <string>
 #include <urdf_model/model.h>
+#include <tinyxml2.h>
 #include <tinyxml.h>  // NOLINT
 
 #include "kdl_parser/visibility_control.hpp"
@@ -64,19 +65,28 @@ KDL_PARSER_PUBLIC
 bool treeFromParam(const std::string & param, KDL::Tree & tree);
 
 /** Constructs a KDL tree from a string containing xml
- * \param xml A string containting the xml description of the robot
+ * \param xml A string containing the xml description of the robot
  * \param tree The resulting KDL Tree
  * returns true on success, false on failure
  */
 KDL_PARSER_PUBLIC
 bool treeFromString(const std::string & xml, KDL::Tree & tree);
 
-/** Constructs a KDL tree from a TiXmlDocument
- * \param xml_doc The TiXmlDocument containting the xml description of the robot
- * \param tree The resulting KDL Tree
+/** Constructs a KDL tree from a TinyXML2 document
+ * \param[in] xml_doc The document containing the xml description of the robot
+ * \param[out] tree The resulting KDL Tree
+ * \return true on success, false on failure
+ */
+KDL_PARSER_PUBLIC
+bool treeFromXml(const tinyxml2::XMLDocument * xml_doc, KDL::Tree & tree);
+
+/** Constructs a KDL tree from a TinyXML document
+ * \param[in] xml_doc The document containing the xml description of the robot
+ * \param[out] tree The resulting KDL Tree
  * returns true on success, false on failure
  */
 KDL_PARSER_PUBLIC
+KDL_PARSER_DEPRECATED("TinyXML API is deprecated, use the TinyXML2 version instead")
 bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree);
 
 /** Constructs a KDL tree from a URDF robot model

kdl_parser/include/kdl_parser/visibility_control.hpp

@@ -45,6 +45,8 @@
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
 
+#define KDL_PARSER_DEPRECATED(msg) __attribute__((deprecated(msg)))
+
 #if defined _WIN32 || defined __CYGWIN__
   #ifdef __GNUC__
     #define KDL_PARSER_EXPORT __attribute__ ((dllexport))

kdl_parser/package.xml

@@ -21,20 +21,20 @@
   <url type="bugtracker">https://github.com/ros/kdl_parser/issues</url>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
-  <depend>urdf</depend>
 
   <depend version_gte="1.3.0">orocos_kdl</depend>
 
   <build_depend>cmake_modules</build_depend>
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>rosconsole</build_depend>
-  <build_depend>tinyxml</build_depend>
 
   <build_export_depend>liburdfdom-headers-dev</build_export_depend>
-  <build_export_depend>tinyxml</build_export_depend>
 
   <exec_depend>rosconsole</exec_depend>
-  <exec_depend>tinyxml</exec_depend>
+
+  <depend>tinyxml</depend>
+  <depend>tinyxml2</depend>
+  <depend>urdf</depend>
 
   <test_depend>roscpp</test_depend>
   <test_depend>rostest</test_depend>

kdl_parser/src/kdl_parser.cpp

@@ -46,7 +46,6 @@
 
 namespace kdl_parser
 {
-
 // construct vector
 KDL::Vector toKdl(urdf::Vector3 v)
 {
@@ -160,8 +159,8 @@ bool addChildrenToTree(urdf::LinkConstSharedPtr root, KDL::Tree & tree)
 
 bool treeFromFile(const std::string & file, KDL::Tree & tree)
 {
-  TiXmlDocument urdf_xml;
-  urdf_xml.LoadFile(file);
+  tinyxml2::XMLDocument urdf_xml;
+  urdf_xml.LoadFile(file.c_str());
   return treeFromXml(&urdf_xml, tree);
 }
 
@@ -177,12 +176,12 @@ bool treeFromParam(const std::string & param, KDL::Tree & tree)
 
 bool treeFromString(const std::string & xml, KDL::Tree & tree)
 {
-  TiXmlDocument urdf_xml;
+  tinyxml2::XMLDocument urdf_xml;
   urdf_xml.Parse(xml.c_str());
   return treeFromXml(&urdf_xml, tree);
 }
 
-bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree)
+bool treeFromXml(const tinyxml2::XMLDocument * xml_doc, KDL::Tree & tree)
 {
   urdf::Model robot_model;
   if (!robot_model.initXml(xml_doc)) {
@@ -192,6 +191,22 @@ bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree)
   return treeFromUrdfModel(robot_model, tree);
 }
 
+bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree)
+{
+  if (!xml_doc) {
+    ROS_ERROR("Could not parse the xml document");
+    return false;
+  }
+
+  urdf::Model robot_model;
+  std::stringstream ss;
+  ss << *xml_doc;
+  if (!robot_model.initString(ss.str())) {
+    ROS_ERROR("Could not generate robot model");
+    return false;
+  }
+  return treeFromUrdfModel(robot_model, tree);
+}
 
 bool treeFromUrdfModel(const urdf::ModelInterface & robot_model, KDL::Tree & tree)
 {