Add suport for loading SDF scenes generated by blender BIM to robotics addon

Requires:

• sw/armarx/meta/axii!517 (merged)

This merge request allows to load a scene described by an SDF file (generated by the BIM to robotics blender addon), instead of using a JSON. For this, the following requirements have to be met:

1. The SDF file must use includes for each model, and each model directory contains an URDF file.
2. The SDF include paths must not lead to a location that can be resolved by SDFormat by default.

The second condition is necessary because SDFormat 6.0 apparently does not allow getting the original include paths (https://github.com/gazebosim/sdformat/blob/sdf6/src/parser.cc#L916). Therefore, the fallback mechanism when a path is not found is used to retrieve all include paths. Using a newer version of SDFormat would probably solve this, but could require some Axii modules.

The code uses SDFormat 13, which is part of the following Axii merge request: sw/armarx/meta/axii!517 (merged) This allows accessing the original paths and setting search paths for URIs on a per-SDF-file basis.

source/ArmarXSimulation/components/Simulator/CMakeLists.txt

@@ -3,7 +3,6 @@ find_package(Simox 2.3.7 QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 armarx_build_if(MemoryX_FOUND "MemoryX not available")
 
-
 if (MujocoX_FOUND)
     include_mujoco()
     set(MUJOCO_LIBS
@@ -11,6 +10,10 @@ if (MujocoX_FOUND)
     )
 endif()
 
+find_package(SDFormat REQUIRED)
+
+include_directories(${SDFormat_INCLUDE_DIRS})
+link_directories(${SDFormat_LIBRARY_DIRS})
 
 set(COMPONENT_LIBS
     ArmarXSimulationInterfaces
@@ -18,6 +21,7 @@ set(COMPONENT_LIBS
     MemoryXCore MemoryXMemoryTypes MemoryXVirtualRobotHelpers
     ${MUJOCO_LIBS}
     SimDynamics
+    ${SDFormat_LIBRARIES}
 )
 
 

[Fabian Reister]

This can be improved. Please remove include_directories and link_directories. Use their target_... counterparts instead.

Likely, there is also a CMake target (I'm just guessing, e.g. SDFormat::SDFormat). You should have a look at the SDFormat-config.cmake file or similar.

Let me know if you need help.