From b0cb4d24a943c6d32e1db0304a0dbeb09f8f4bb8 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 7 Feb 2023 11:18:55 +0100
Subject: [PATCH] fix: removing package_name from relative path to create
PackagePath
---
.../server/description/Segment.cpp | 21 +++++++++++++++----
1 file changed, 17 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index e323a2815..0996242a4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -1,4 +1,5 @@
#include "Segment.h"
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <ArmarXCore/core/application/properties/PluginAll.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -83,14 +84,26 @@ namespace armarx::armem::server::robot_state::description
const std::vector<std::string> packages = armarx::CMakePackageFinder::FindAllArmarXSourcePackages();
const std::string package = armarx::ArmarXDataPath::getProject(packages, robotFilename);
- const std::string fixedRobotFilename = robotFilename.substr(package.size() + 1, -1);
- ARMARX_INFO << "Robot description '" << VAROUT(fixedRobotFilename) << "' found in package " << package;
+ // make sure that the relative path is without the 'package/' prefix
+ const std::string robotFileRelPath = [&robotFilename, &package]()-> std::string {
+
+ if(simox::alg::starts_with(robotFilename, package))
+ {
+ // remove "package" + "/"
+ const std::string fixedRobotFilename = robotFilename.substr(package.size() + 1, -1);
+ return fixedRobotFilename;
+ }
+
+ return robotFilename;
+ }();
+
+ ARMARX_INFO << "Robot description '" << VAROUT(robotFileRelPath) << "' found in package " << package;
const robot::RobotDescription robotDescription
{
.name = kinematicUnit->getRobotName(),
- .xml = {package, fixedRobotFilename}
- }; // FIXME
+ .xml = {package, robotFileRelPath}
+ };
commitRobotDescription(robotDescription);
}
--
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