convert to tinyxml2 to avoid deprecated interfaces in urdf (#1237)

CMakeLists.txt

@@ -159,7 +159,7 @@ else()
   set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
 endif()
 
-find_package(TinyXML REQUIRED)
+find_package(TinyXML2 REQUIRED)
 
 catkin_python_setup()
 
@@ -213,7 +213,7 @@ include_directories(SYSTEM
   ${OGRE_OV_INCLUDE_DIRS}
   ${OPENGL_INCLUDE_DIR}
   ${PYTHON_INCLUDE_PATH}
-  ${TinyXML_INCLUDE_DIRS}
+  ${TinyXML2_INCLUDE_DIRS}
   ${urdfdom_headers_INCLUDE_DIRS}
 )
 include_directories(src ${catkin_INCLUDE_DIRS})

package.xml

@@ -43,7 +43,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
   <build_depend>tf</build_depend>
-  <build_depend>tinyxml</build_depend>
+  <build_depend>tinyxml2</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>visualization_msgs</build_depend>
   <build_depend>yaml-cpp</build_depend>
@@ -77,7 +77,7 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>tf</run_depend>
-  <run_depend>tinyxml</run_depend>
+  <run_depend>tinyxml2</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>visualization_msgs</run_depend>
   <run_depend>yaml-cpp</run_depend>

src/rviz/CMakeLists.txt

@@ -140,7 +140,7 @@ target_link_libraries(${PROJECT_NAME}
   ${OGRE_OV_LIBRARIES_ABS}
   ${OPENGL_LIBRARIES}
   ${rviz_ADDITIONAL_LIBRARIES}
-  ${TinyXML_LIBRARIES}
+  ${TinyXML2_LIBRARIES}
   ${X11_X11_LIB}
   assimp
   yaml-cpp

src/rviz/default_plugin/robot_model_display.cpp

@@ -30,7 +30,7 @@
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 
-#include <tinyxml.h>
+#include <tinyxml2.h>
 #include <urdf/model.h>
 
 #include <tf/transform_listener.h>
@@ -174,7 +174,7 @@ void RobotModelDisplay::load()
 
   robot_description_ = content;
 
-  TiXmlDocument doc;
+  tinyxml2::XMLDocument doc;
   doc.Parse( robot_description_.c_str() );
   if( !doc.RootElement() )
   {

src/rviz/display_factory.cpp

@@ -31,7 +31,7 @@
 
 #include "rviz/display_factory.h"
 
-#include <tinyxml.h>
+#include <tinyxml2.h>
 
 namespace rviz
 {
@@ -75,31 +75,31 @@ QSet<QString> DisplayFactory::getMessageTypes( const QString& class_id )
   if ( !xml_file.isEmpty() )
   {
     ROS_DEBUG_STREAM("Parsing " << xml_file.toStdString());
-    TiXmlDocument document;
-    document.LoadFile(xml_file.toStdString());
-    TiXmlElement * config = document.RootElement();
+    tinyxml2::XMLDocument document;
+    document.LoadFile(xml_file.toStdString().c_str());
+    tinyxml2::XMLElement * config = document.RootElement();
     if (config == NULL)
     {
       ROS_ERROR("Skipping XML Document \"%s\" which had no Root Element.  This likely means the XML is malformed or missing.", xml_file.toStdString().c_str());
       return QSet<QString>();
     }
-    if (config->ValueStr() != "library" &&
-        config->ValueStr() != "class_libraries")
+    if (std::string(config->Name()) != "library" &&
+        std::string(config->Name()) != "class_libraries")
     {
       ROS_ERROR("The XML document \"%s\" given to add must have either \"library\" or \
           \"class_libraries\" as the root tag", xml_file.toStdString().c_str());
       return QSet<QString>();
     }
     //Step into the filter list if necessary
-    if (config->ValueStr() == "class_libraries")
+    if (std::string(config->Name()) == "class_libraries")
     {
       config = config->FirstChildElement("library");
     }
 
-    TiXmlElement* library = config;
+    tinyxml2::XMLElement* library = config;
     while ( library != NULL)
     {
-      TiXmlElement* class_element = library->FirstChildElement("class");
+      tinyxml2::XMLElement* class_element = library->FirstChildElement("class");
       while (class_element)
       {
         std::string derived_class = class_element->Attribute("type");
@@ -117,7 +117,7 @@ QSet<QString> DisplayFactory::getMessageTypes( const QString& class_id )
         }
 
         QSet<QString> message_types;
-        TiXmlElement* message_type = class_element->FirstChildElement("message_type");
+        tinyxml2::XMLElement* message_type = class_element->FirstChildElement("message_type");
 
         while ( message_type )
         {

src/rviz/mesh_loader.cpp

@@ -48,8 +48,7 @@
 #include <OgreSharedPtr.h>
 #include <OgreTechnique.h>
 
-#include <tinyxml.h>
-
+#include <tinyxml2.h>
 
 #include <ros/assert.h>
 
@@ -577,7 +576,7 @@ float getMeshUnitRescale(const std::string& resource_path)
 
 
   // Try to read unit to meter conversion ratio from mesh. Only valid in Collada XML formats. 
-  TiXmlDocument xmlDoc;
+  tinyxml2::XMLDocument xmlDoc;
   float unit_scale(1.0);
   resource_retriever::Retriever retriever;
   resource_retriever::MemoryResource res;
@@ -604,19 +603,19 @@ float getMeshUnitRescale(const std::string& resource_path)
   // Find the appropriate element if it exists
   if(!xmlDoc.Error())
   {
-    TiXmlElement * colladaXml = xmlDoc.FirstChildElement("COLLADA");
+    tinyxml2::XMLElement * colladaXml = xmlDoc.FirstChildElement("COLLADA");
     if(colladaXml)
     {
-      TiXmlElement *assetXml = colladaXml->FirstChildElement("asset");
+      tinyxml2::XMLElement *assetXml = colladaXml->FirstChildElement("asset");
       if(assetXml)
       {
-        TiXmlElement *unitXml = assetXml->FirstChildElement("unit");
+        tinyxml2::XMLElement *unitXml = assetXml->FirstChildElement("unit");
         if (unitXml && unitXml->Attribute("meter"))
         {
           // Failing to convert leaves unit_scale as the default.
           if(unitXml->QueryFloatAttribute("meter", &unit_scale) != 0)
             ROS_WARN_STREAM("getMeshUnitRescale::Failed to convert unit element meter attribute to determine scaling. unit element: "
-                            << *unitXml);
+                            << unitXml->GetText());
         }
       }
     }