Check if everything is still working after urdf_parser_py modification of collision and visual tags

[traversaro]

We need to fix the regression in visual and collision elements introduced in ros/urdf_parser_py#26 and discussed in #38 .

[gabrielenava]

@traversaro actually it is not ok: with the latest urdf_parser_py the urdf::Link class does not work properly anymore, and both Visual and Collision tags are missing in the link definition inside the urdf.

It seems the developers of the parser also noted the lack of backward compatibility of the Link class, in fact I fixed the problem by moving my urdf_parser_py to the fork implementing this PR: see also the issue I've opened #38 (comment).

Note that in my specific case there was another installation of the library that was hiding my modifications. In fact, the urdf_parser_py comes along with ros-desktop-full installation and therefore there was another (bugged) copy of the library in my path. I had to rename the installation that comes along with ROS, so that it was possible to see the correct files.

Now it seems to me that everything is working fine.

[traversaro]

If I remember correctly the changes in ros/urdf_parser_py#26, we can simply strictly require the latest version of urdf_parser_py and switch to use visuals and collisions instead of visual and collision.

[traversaro]

I updated the title of the issue to reflect the current focus, after the evidence of the regression introduced in ros/urdf_parser_py#26 .

[traversaro]

A fix for the regression was proposed in ros/urdf_parser_py#47 by @k-okada, but unfortunately upstream seems not to be interested in the PR.

[traversaro]

A fix for the regression was proposed in ros/urdf_parser_py#47 by @k-okada, but unfortunately upstream seems not to be interested in the PR.

The fix has been merged in the melodic-branch and is available in release 0.4.3, while it is not available in the ros2 branch and in particular in release 1.0.0 . @gabrielenava @FabioBergonti can you test if everything works ok when using urdf_parser_py v0.4.3 ?