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Add URDF XML parser (#21)
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‎tests/data/error_different_place.urdf‎

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<robot name="different_places">
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<link name="BaseLink">
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<visual>
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<material name="green" />
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</visual>
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<!-- This is a deliberate mistake. -->
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<!-- The geometry is not a child of the visual. -->
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</link>
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</robot>

‎tests/data/error_dupilcate_material_names.urdf‎

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<robot name="duplicate_material_names">
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>
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<!-- This is a deliberate mistake. -->
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<!-- The material name is the same as the existing material name. -->
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>
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</robot>

‎tests/data/error_duplicate_joint_names.urdf‎

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<robot name="duplicate_joint_names">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link3">
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<visual>
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<origin rpy="0 0 0" xyz="2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<joint name="JointA" type="fixed">
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<parent link="BaseLink"/>
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<child link="link2" />
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</joint>
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<!-- This is a deliberate mistake. -->
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<!-- The joint name is the same as the existing joint name. -->
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<joint name="JointA" type="fixed">
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<parent link="link2"/>
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<child link="link3" />
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</joint>
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</robot>

‎tests/data/error_duplicate_link_names.urdf‎

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<robot name="duplicate_link_names">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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<!-- This is a deliberate mistake. -->
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<!-- The link name is the same as the existing link name. -->
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="2 0 0.5"/>
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<geometry>
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<cylinder radius="0.5" length="1"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎tests/data/error_duplicate_transmission_names.urdf‎

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<robot name="duplicate_transmission_names">
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<transmission name="transmission_1">
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<type>transmission_interface/SimpleTransmission</type>
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</transmission>
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<!-- This is a deliberate mistake. -->
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<!-- The transmission name is the same as the existing transmission name. -->
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<transmission name="transmission_1">
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<type>transmission_interface/SimpleTransmission</type>
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</transmission>
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</robot>

‎tests/data/error_incorrect_joint_child_link_name.urdf‎

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<robot name="incorrect_joint_child_link_name">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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<joint name="JointA" type="fixed">
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<parent link="BaseLink"/>
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<!-- This is a deliberate mistake. -->
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<!-- The specified link does not exist. -->
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<child link="link_dummy" />
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</joint>
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</robot>

‎tests/data/error_incorrect_joint_parent_link_name.urdf‎

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<robot name="incorrect_joint_parent_link_name">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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<joint name="JointA" type="fixed">
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<!-- This is a deliberate mistake. -->
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<!-- The specified link does not exist. -->
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<parent link="BaseLink_dummy"/>
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<child link="link2" />
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</joint>
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</robot>

‎tests/data/error_incorrect_joint_type.urdf‎

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<robot name="incorrect_joint_type">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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<!-- This is a deliberate mistake. -->
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<!-- The specified joint type is incorrect. -->
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<joint name="JointA" type="incorrect_type">
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<parent link="BaseLink"/>
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<child link="link2" />
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</joint>
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</robot>

‎tests/data/error_incorrect_vec3.urdf‎

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<robot name="incorrect_vec3">
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<link name="BaseLink">
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<visual>
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<!-- This is a deliberate mistake. -->
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<!-- The specified xyz value is incorrect. -->
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<origin rpy="0 0 0" xyz="-2.2 0.0 0.5 1.0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎tests/data/error_incorrect_vec4.urdf‎

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<robot name="incorrect_vec4">
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<material name="green">
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<!-- This is a deliberate mistake. -->
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<!-- The specified rgba value is incorrect. -->
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<color rgba="0.0 1.0"/>
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</material>
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</robot>

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