Enable and fix schema test - #1705
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Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
A catalog.xml file is configured to rewrite http://sdformat.org/schemas/ URIs to the local build output directory CMAKE_CURRENT_BINARY_DIR. The path to the catalog file is set in XML_CATALOG_FILES and xmllint is invoked with `--catalogs`. Assisted-by: Gemini 3.6 Flash Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
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I'm going to clean this up a little more |
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This refactors parts of the print_element and print_xsd methods to make the implementations more similar and introduces the following behavior changes: * Empty-element <xsd:element ... /> tags are split into pairs of start-tag and end-tag: <xsd:element ... ></xsd:element> * The pose element in pose.xsd was missing a type attribute that is now added: <xsd:element name='pose' type='pose'>...</xsd:element> Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
An XML element that contains child elements, attributes,
or includes is a complexType, and if it also contains a value
then it has simpleContent. An example of this is
<pose degrees='true'>0 0 0 0 0 0</pose>
This updates the XSD generator to properly wrap these elements
in <xsd:simpleContent><xsd:extension base='{type}'>, which
helps fix some of the schema tests.
Assisted-by: Gemini 3.6 Flash
Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
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Fixed recursive processing of nested <include> elements and top-level schema inclusions so nested included components (such as <pose> inside <include>) generate valid schema references. Assisted-by: Gemini 3.6 Flash Signed-off-by: Steve Peters <scpeters@intrinsic.ai>
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🦟 Bug fix
Fixes #1656, builds on top of #1704
Summary
As noted in #1656, the schema integration test is broken with
xmllintversion 2.15.0 and later, when its internal HTTP client was removed (see also RoboStack/ros-jazzy#200) with failures like:Gemini suggested using an XML catalog to map the external document references to locally cached copies, which is done in 628139a. There are also some failures of the schema test that are fixed by modifying the xmlschema.py script in the following commits (which I recommend reviewing as separate commits):
print_elementandprint_xsdmethods to make their implementations more similar and reduce the diff of subsequent commits. It has mild behavior changes detailed in the commit message. The diff without whitespace may be useful<pose degrees='true'>0 0 0 0 0 0</pose>. The diff without whitespace may be usefulBackport Policy
there will be conflicts backporting to harmonic, as it doesn't have 1.12
Checklist
codecheckpassed (See contributing)Assisted-by: Gemini 3.6 Flash
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.Backports: If this is a backport, please use Rebase and Merge instead.