Set sdformat version to 12.4.0 and update patches

Signed-off-by: Addisu Z. Taddese <[email protected]>
RobotLocomotion · Apr 7, 2022 · 0776e27 · 0776e27
1 parent 2d33166
commit 0776e27
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Showing 4 changed files with 37 additions and 28 deletions.
diff --git a/tools/workspace/sdformat/package.BUILD.bazel b/tools/workspace/sdformat/package.BUILD.bazel
@@ -116,6 +116,7 @@ SDFORMAT_MOST_PUBLIC_HDRS = [
  "include/sdf/Model.hh",
  "include/sdf/NavSat.hh",
  "include/sdf/Noise.hh",
+ "include/sdf/OutputConfig.hh",
  "include/sdf/Param.hh",
  "include/sdf/ParserConfig.hh",
  "include/sdf/ParticleEmitter.hh",
@@ -216,6 +217,7 @@ cc_library(
  "src/Model.cc",
  "src/NavSat.cc",
  "src/Noise.cc",
+ "src/OutputConfig.cc",
  "src/Param.cc",
  "src/ParamPassing.cc",
  "src/ParamPassing.hh",

diff --git a/tools/workspace/sdformat/patches/deprecation_unit_testing.patch b/tools/workspace/sdformat/patches/deprecation_unit_testing.patch
@@ -5,14 +5,14 @@ rely on any _actually_ deprecated elements, because they will disappear in
 a future upstream release. Therefore, we inject a Drake-specific element
 definition that will always be available.
 
---- src/parser.cc.orig 2021-09-30 15:33:35.000000000 -0700
-+++ src/parser.cc 2022-03-17 12:29:01.296905847 -0700
-@@ -359,7 +359,12 @@
+--- src/parser.cc.orig 2022-04-07 11:39:06.881088965 -0500
++++ src/parser.cc 2022-04-07 11:38:32.744818095 -0500
+@@ -379,7 +379,12 @@
  std::string xmldata = SDF::EmbeddedSpec("root.sdf", false);
  auto xmlDoc = makeSdfDoc();
  xmlDoc.Parse(xmldata.c_str());
-- return initDoc(&xmlDoc, _sdf);
-+ bool result = initDoc(&xmlDoc, _sdf);
+- return initDoc(&xmlDoc, _config, _sdf);
++ bool result = initDoc(&xmlDoc, _config, _sdf);
 + ElementPtr drake_testing_element(new Element);
 + drake_testing_element->SetName("_drake_deprecation_unit_test_element");
 + drake_testing_element->SetRequired("-1" /* deprecated */);

diff --git a/tools/workspace/sdformat/patches/no_global_config.patch b/tools/workspace/sdformat/patches/no_global_config.patch
@@ -3,9 +3,11 @@ Change the global singleton into a bomb.
 Use the default config when parsing the built-in root.sdf, and
 in the ign_sdf command-line tool.
 
---- src/ParserConfig.cc.orig 2021-09-30 15:33:35.000000000 -0700
-+++ src/ParserConfig.cc 2022-03-14 22:49:17.262811731 -0700
-@@ -57,8 +57,7 @@
+diff --git src/ParserConfig.cc src/ParserConfig.cc
+index f0253eef..0db1110a 100644
+--- src/ParserConfig.cc
++++ src/ParserConfig.cc
+@@ -57,8 +57,7 @@ ParserConfig::ParserConfig()
  /////////////////////////////////////////////////
  ParserConfig &ParserConfig::GlobalConfig()
  {
@@ -15,21 +17,11 @@ in the ign_sdf command-line tool.
  }
 
  /////////////////////////////////////////////////
-
---- src/parser.cc.orig 2021-09-30 15:33:35.000000000 -0700
-+++ src/parser.cc 2022-03-14 23:16:20.973451521 -0700
-@@ -597,7 +597,7 @@
-
- ElementPtr element(new Element);
-
-- initFile(filename, element);
-+ initFile(filename, ParserConfig{}, element);
-
- // override description for include elements
- tinyxml2::XMLElement *description = child->FirstChildElement("description");
---- src/ign.cc.orig 2021-09-30 15:33:35.000000000 -0700
-+++ src/ign.cc 2022-03-15 00:13:58.609410856 -0700
-@@ -36,7 +36,7 @@
+diff --git src/ign.cc src/ign.cc
+index e046d6fc..fe3ce959 100644
+--- src/ign.cc
++++ src/ign.cc
+@@ -36,7 +36,7 @@ extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path)
  int result = 0;
 
  sdf::Root root;
@@ -38,7 +30,7 @@ in the ign_sdf command-line tool.
  if (!errors.empty())
  {
  for (auto &error : errors)
-@@ -85,8 +85,12 @@
+@@ -85,8 +85,12 @@ extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path)
  return -1;
  }
 
@@ -52,7 +44,7 @@ in the ign_sdf command-line tool.
  std::cerr << "Error: SDF parsing the xml failed.\n";
  return -1;
  }
-@@ -147,8 +152,13 @@
+@@ -147,8 +151,13 @@ extern "C" SDFORMAT_VISIBLE int cmdPrint(const char *_path)
  return -1;
  }
 
@@ -67,7 +59,7 @@ in the ign_sdf command-line tool.
  std::cerr << "Error: SDF parsing the xml failed.\n";
  return -1;
  }
-@@ -170,7 +180,7 @@
+@@ -170,7 +179,7 @@ extern "C" SDFORMAT_VISIBLE int cmdGraph(
  }
 
  sdf::Root root;
@@ -76,3 +68,17 @@ in the ign_sdf command-line tool.
  if (!errors.empty())
  {
  std::cerr << errors << std::endl;
+diff --git src/parser.cc src/parser.cc
+index 5f29f93d..11c07f9a 100644
+--- src/parser.cc
++++ src/parser.cc
+@@ -597,7 +597,7 @@ bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
+
+ ElementPtr element(new Element);
+
+- initFile(filename, element);
++ initFile(filename, ParserConfig{}, element);
+
+ // override description for include elements
+ tinyxml2::XMLElement *description = child->FirstChildElement("description");
+
diff --git a/tools/workspace/sdformat/repository.bzl b/tools/workspace/sdformat/repository.bzl
@@ -8,11 +8,12 @@ def sdformat_repository(
  github_archive(
  name = name,
  repository = "ignitionrobotics/sdformat",
- commit = "sdf12",
+ commit = "sdformat12_12.4.0",
  build_file = "@drake//tools/workspace/sdformat:package.BUILD.bazel",
- sha256 = "af34d335c19b3dab62708d988e28d19bb041cff881c66627b8816a14be8b722f", # noqa
+ sha256 = "1feaa2c8867f3dbb3ddc9de34218a27cda0b881432057744b9ef12d4f26604b4", # noqa
  patches = [
  "@drake//tools/workspace/sdformat:patches/console.patch",
+ "@drake//tools/workspace/sdformat:patches/deprecation_unit_testing.patch", # noqa
  "@drake//tools/workspace/sdformat:patches/no_urdf.patch",
  ],
  mirrors = mirrors,