Trying to load an invalid COLLADA version for this DOM build only on 13.10

[k-okada]

Hi,

I'm using collada-dom based application on 12.04 and 13.04. but only 13.04 fails with Trying to load an invalid COLLADA version for this DOM build Do you have any thought on this?

here is how you reproduce this.

$ rosparam set /robot_description -t `rospack find nextage_description`/models/main.dae # https://github.com/tork-a/rtmros_nextage/tree/hydro-devel/nextage_description/models

$ rosrun robot_state_publisher state_publisher
[ERROR] [1405529535.299984046]: COLLADA error: Trying to load an invalid COLLADA version for this DOM build!
[ERROR] [1405529535.343770418]: COLLADA error: Failed to load XML document from memory
[ERROR] [1405529535.356754079]: Could not generate robot model
[ERROR] [1405529535.360128130]: Failed to extract kdl tree from xml robot description

but on 12.04, state_publisher works

but collada_to_urdf works and this is also uses openFromMemory function https://github.com/ros/robot_model/blob/indigo-devel/collada_parser/src/collada_parser.cpp#L444 via
https://github.com/ros/robot_model/blob/indigo-devel/collada_urdf/src/collada_to_urdf.cpp#L674

$ rosrun collada_urdf collada_to_urdf main.dae 
;; Input file is: main.dae
[ WARN] [1405531921.704972653]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.
[ERROR] [1405531921.906564327]: Target Node visual1/node_joint0_axis0 NOT found!!!
[ WARN] [1405531921.922642311]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[ WARN] [1405531921.927932124]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[rdiankov]

hmmm.......... maybe the collada package is bad?
just to confirm, have you tried removing the default collada-dom package and installing from sources?
https://github.com/rdiankov/collada-dom

[k-okada]

ok, I'll try from source file

BTW, I checked with ROS-indigo, which uses 14.04 of Ubuntu and 2.4.3 of collada dom (deb) and it did not work too. 12.04 uses 2.4.0 of collada-do and 13.04 uses 2.4.1, so there must be some update between 2.4.0 and 2.4.1.

[rdiankov]

where is the code for state_publisher?
i think it's CMakeLists.txt file might not be including all the collada-dom flags. also, following is necessary

using namespace ColladaDOM150;

[k-okada]

state_publisher is here -> https://github.com/ros/robot_state_publisher/blob/hydro-devel/CMakeLists.txt, and it uses https://github.com/ros/robot_model/tree/hydro-devel/collada_parser

[rdiankov]

everything looks fine, so i can't figure it out ;0/
will you be free this saturday? i can stop by your lab and check it out.

[k-okada]

here is update:

xmlns->getURI() of following line in daeIOPluginCommon.cpp returns NULL string, but I still do not understand why.

        if ( strcmp( xmlns->getURI(), element->getDAE()->getColladaNamespace() ) != 0 ) {

If I compiled collada-dom 2.4.0 on 13.04 and it has same result. so may be compiler or library problem?, (but I haven't checked if compiled library of 2.4.0 on 12.04 works or not)

[k-okada]

Humm somehow adding -lpcrecpp when compiling state_publisher solves the problem.

target_link_libraries(state_publisher ${PROJECT_NAME}_solver log4cxx pcrecpp ${orocos_kdl_LIBRARIES})

[rdiankov]

wow, great job! i would have never figured that out ;0)