Merge pull request #72 from otamachan/color-and-texture-are-optional

Color and texture in link material are optional

.travis.yml

@@ -8,7 +8,7 @@ compiler:
 script: "./.travis/build"
 before_install:
   - sudo apt-get update -qq
-  - sudo apt-get install -qq libboost-system-dev libboost-thread-dev libboost-test-dev libtinyxml-dev python-yaml
+  - sudo apt-get install -qq libboost-system-dev libboost-thread-dev libboost-test-dev libtinyxml-dev python-yaml python-mock
 matrix:
   allow_failures:
     - compiler: clang

urdf_parser_py/src/urdf_parser_py/urdf.py

@@ -169,6 +169,9 @@ def check_valid(self):
 	xmlr.Element('texture', Texture, False)
 	])
 
+class LinkMaterial(Material):
+	def check_valid(self):
+		pass
 
 class Visual(xmlr.Object):
 	def __init__(self, geometry = None, material = None, origin = None):
@@ -179,7 +182,7 @@ def __init__(self, geometry = None, material = None, origin = None):
 xmlr.reflect(Visual, params = [
 	origin_element,
 	xmlr.Element('geometry', 'geometric'),
-	xmlr.Element('material', Material, False)
+	xmlr.Element('material', LinkMaterial, False)
 	])
 
 

urdf_parser_py/test/test_urdf.py

@@ -1,11 +1,17 @@
 from __future__ import print_function
 
 import unittest
+import mock
 from xml.dom import minidom
 from xml_matching import xml_matches
 from urdf_parser_py import urdf
 
+class ParseException(Exception):
+    pass
+
 class TestURDFParser(unittest.TestCase):
+    @mock.patch('urdf_parser_py.xml_reflection.on_error',
+                mock.Mock(side_effect=ParseException))
     def parse(self, xml):
         return urdf.Robot.from_xml_string(xml)
 
@@ -97,6 +103,36 @@ def test_old_transmission(self):
 </robot>'''
         self.parse_and_compare(xml)
 
+    def test_link_material_missing_color_and_texture(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <link name="link">
+    <visual>
+      <geometry>
+        <cylinder length="1" radius="1"/>
+      </geometry>
+      <material name="mat"/>
+    </visual>
+  </link>
+</robot>'''
+        self.parse_and_compare(xml)
+
+    def test_robot_material(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <material name="mat">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+</robot>'''
+        self.parse_and_compare(xml)
+
+    def test_robot_material_missing_color_and_texture(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <material name="mat"/>
+</robot>'''
+        self.assertRaises(ParseException, self.parse, xml)
+
 
 if __name__ == '__main__':
     unittest.main()