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Explicit convert from std::filesystem::path to std::string for Windows compatibility #3249

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merged 1 commit into from
Jan 20, 2025
Merged

Explicit convert from std::filesystem::path to std::string for Windows compatibility #3249

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4 changes: 2 additions & 2 deletions moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ int main(int argc, char* argv[])
auto package_settings = config_data->get<moveit_setup::PackageSettingsConfig>("package_settings");
try
{
package_settings->loadExisting(config_pkg_path);
package_settings->loadExisting(config_pkg_path.string());
}
catch (const std::runtime_error& e)
{
Expand All @@ -113,7 +113,7 @@ int main(int argc, char* argv[])
RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide config package or URDF and SRDF path");
return 1;
}
else if (rdf_loader::RDFLoader::isXacroFile(srdf_path) && output_path.empty())
else if (rdf_loader::RDFLoader::isXacroFile(srdf_path.string()) && output_path.empty())
{
RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide a different output file for SRDF xacro input file");
return 1;
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2 changes: 1 addition & 1 deletion moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp
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Expand Up @@ -71,7 +71,7 @@ SetupAssistantWidget::SetupAssistantWidget(const rviz_common::ros_integration::R

// Setting the window icon
auto icon_path = getSharePath("moveit_ros_visualization") / "icons/classes/MotionPlanning.png";
setWindowIcon(QIcon(icon_path.c_str()));
setWindowIcon(QIcon(icon_path.string().c_str()));

// Basic widget container -----------------------------------------
QHBoxLayout* layout = new QHBoxLayout();
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2 changes: 1 addition & 1 deletion ...stant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp
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Expand Up @@ -80,7 +80,7 @@ class ConfigurationFiles : public SetupStep

bool shouldGenerate(const GeneratedFilePtr& file) const
{
std::string rel_path = file->getRelativePath();
std::string rel_path = file->getRelativePath().string();
auto it = should_generate_.find(rel_path);
if (it == should_generate_.end())
{
Expand Down
8 changes: 4 additions & 4 deletions moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp
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Expand Up @@ -294,7 +294,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item)
}

// Enable/disable file
setup_step_.setShouldGenerate(gen_file->getRelativePath(), generate);
setup_step_.setShouldGenerate(gen_file->getRelativePath().string(), generate);
}

// ******************************************************************************************
Expand All @@ -303,7 +303,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item)
void ConfigurationFilesWidget::focusGiven()
{
// Pass the package path from start screen to configuration files screen
stack_path_->setPath(setup_step_.getPackagePath());
stack_path_->setPath(setup_step_.getPackagePath().string());

setup_step_.loadFiles();

Expand Down Expand Up @@ -352,7 +352,7 @@ void ConfigurationFilesWidget::showGenFiles()
auto gen_file = gen_files[i];

// Create a formatted row
QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().c_str()), action_list_, 0);
QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().string().c_str()), action_list_, 0);

// Checkbox
item->setCheckState(setup_step_.shouldGenerate(gen_file) ? Qt::Checked : Qt::Unchecked);
Expand Down Expand Up @@ -480,7 +480,7 @@ bool ConfigurationFilesWidget::generatePackage()
// Error occurred
QMessageBox::critical(this, "Error Generating File",
QString("Failed to generate folder or file: '")
.append(gen_file->getRelativePath().c_str())
.append(gen_file->getRelativePath().string().c_str())
.append("' at location:\n")
.append(absolute_path.c_str()));
return false;
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2 changes: 1 addition & 1 deletion moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ std::filesystem::path StartScreen::getPackagePath()

void StartScreen::loadExisting(const std::filesystem::path& package_path)
{
package_settings_->loadExisting(package_path);
package_settings_->loadExisting(package_path.string());
}

bool StartScreen::isXacroFile()
Expand Down
6 changes: 3 additions & 3 deletions moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp
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Expand Up @@ -205,15 +205,15 @@ void StartScreenWidget::focusGiven()
std::filesystem::path pkg_path = setup_step_.getPackagePath();
if (!pkg_path.empty())
{
stack_path_->setPath(pkg_path);
stack_path_->setPath(pkg_path.string());
select_mode_->btn_exist_->click();
return;
}

std::filesystem::path urdf_path = setup_step_.getURDFPath();
if (!urdf_path.empty())
{
urdf_file_->setPath(urdf_path);
urdf_file_->setPath(urdf_path.string());
select_mode_->btn_new_->click();
}
}
Expand Down Expand Up @@ -324,7 +324,7 @@ bool StartScreenWidget::loadPackageSettings(bool show_warnings)

try
{
setup_step_.loadExisting(package_path_input);
setup_step_.loadExisting(package_path_input.string());
return true;
}
catch (const std::runtime_error& e)
Expand Down
2 changes: 1 addition & 1 deletion ...etup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp
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Expand Up @@ -263,7 +263,7 @@ class SRDFConfig : public SetupConfig

bool write(const std::filesystem::path& path)
{
return srdf_.writeSRDF(path);
return srdf_.writeSRDF(path.string());
}

std::filesystem::path getPath() const
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2 changes: 1 addition & 1 deletion moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
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Expand Up @@ -88,7 +88,7 @@ void SRDFConfig::loadSRDFFile(const std::filesystem::path& srdf_file_path, const
loadURDFModel();

std::string srdf_string;
if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_, xacro_args))
if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_.string(), xacro_args))
{
throw std::runtime_error("SRDF file not found: " + srdf_path_.string());
}
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14 changes: 7 additions & 7 deletions moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp
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Expand Up @@ -120,13 +120,13 @@ void URDFConfig::setPackageName()
void URDFConfig::loadFromPackage(const std::filesystem::path& package_name, const std::filesystem::path& relative_path,
const std::string& xacro_args)
{
const std::filesystem::path package_path = getSharePath(package_name);
const std::filesystem::path package_path = getSharePath(package_name.string());
if (package_path.empty())
{
throw std::runtime_error("URDF/COLLADA package not found: ''" + package_name.string());
}

urdf_pkg_name_ = package_name;
urdf_pkg_name_ = package_name.string();
urdf_pkg_relative_path_ = relative_path;
xacro_args_ = xacro_args;

Expand All @@ -139,12 +139,12 @@ void URDFConfig::load()
RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Name: " << urdf_pkg_name_);
RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Path: " << urdf_pkg_relative_path_);

if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_, xacro_args_vec_))
if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_.string(), xacro_args_vec_))
{
throw std::runtime_error("URDF/COLLADA file not found: " + urdf_path_.string());
}

if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_))
if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_.string()))
{
throw std::runtime_error("Running xacro failed.\nPlease check console for errors.");
}
Expand All @@ -154,7 +154,7 @@ void URDFConfig::load()
{
throw std::runtime_error("URDF/COLLADA file is not a valid robot model.");
}
urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_);
urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_.string());

// Set parameter
parent_node_->set_parameter(rclcpp::Parameter("robot_description", urdf_string_));
Expand All @@ -164,7 +164,7 @@ void URDFConfig::load()

bool URDFConfig::isXacroFile() const
{
return rdf_loader::RDFLoader::isXacroFile(urdf_path_);
return rdf_loader::RDFLoader::isXacroFile(urdf_path_.string());
}

bool URDFConfig::isConfigured() const
Expand All @@ -182,7 +182,7 @@ void URDFConfig::collectVariables(std::vector<TemplateVariable>& variables)
std::string urdf_location;
if (urdf_pkg_name_.empty())
{
urdf_location = urdf_path_;
urdf_location = urdf_path_.string();
}
else
{
Expand Down
2 changes: 1 addition & 1 deletion moveit_setup_assistant/moveit_setup_framework/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ bool extractPackageNameFromPath(const std::filesystem::path& path, std::string&
// Default package name to folder name
package_name = sub_path.filename().string();
tinyxml2::XMLDocument package_xml_file;
auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").c_str());
auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").string().c_str());
if (is_open == tinyxml2::XML_SUCCESS)
{
auto name_potential =
Expand Down
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