{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/idyntree/issues/460","repository_url":"https://api.github.com/repos/robotology/idyntree","labels_url":"https://api.github.com/repos/robotology/idyntree/issues/460/labels{/name}","comments_url":"https://api.github.com/repos/robotology/idyntree/issues/460/comments","events_url":"https://api.github.com/repos/robotology/idyntree/issues/460/events","html_url":"https://github.com/robotology/idyntree/pull/460","id":336364687,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk3ODM1NDk4","number":460,"title":"Changed URDF parser to use Gnome libxml2 instead of TinyXML","user":{"login":"francesco-romano","id":2189180,"node_id":"MDQ6VXNlcjIxODkxODA=","avatar_url":"https://avatars2.githubusercontent.com/u/2189180?v=4","gravatar_id":"","url":"https://api.github.com/users/francesco-romano","html_url":"https://github.com/francesco-romano","followers_url":"https://api.github.com/users/francesco-romano/followers","following_url":"https://api.github.com/users/francesco-romano/following{/other_user}","gists_url":"https://api.github.com/users/francesco-romano/gists{/gist_id}","starred_url":"https://api.github.com/users/francesco-romano/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/francesco-romano/subscriptions","organizations_url":"https://api.github.com/users/francesco-romano/orgs","repos_url":"https://api.github.com/users/francesco-romano/repos","events_url":"https://api.github.com/users/francesco-romano/events{/privacy}","received_events_url":"https://api.github.com/users/francesco-romano/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":11,"created_at":"2018-06-27T19:52:32Z","updated_at":"2018-07-30T10:20:49Z","closed_at":null,"author_association":"COLLABORATOR","pull_request":{"url":"https://api.github.com/repos/robotology/idyntree/pulls/460","html_url":"https://github.com/robotology/idyntree/pull/460","diff_url":"https://github.com/robotology/idyntree/pull/460.diff","patch_url":"https://github.com/robotology/idyntree/pull/460.patch"},"body":"Even if TinyXML is one of the most widespread XML libraries around, it is functionally very limited, and no more maintained, not even for security/bug fixes.\r\n\r\nThis PR changes the URDF parser of iDynTree to use [Gnome libxml2](http://xmlsoft.org), a C-based XML parser.\r\n\r\nThe old library has been backed-up in `idyntree-modelio-urdf-legacy` in case we want to keep it around for some time. Given that the new library should be a drop-in replacement of the old one, hopefully (modulo bugs) nobody should see any difference.\r\n\r\nA new library, `idyntree-modelio-xml` has been created (that depends on `libxml2`). This library supports generic XML parsing (of course the output is a tree of XML elements) and XSD 1.0 validation support. The latter can be useful for configuration files (even if I still think that we should strive to have XSD as much as possible) or other simple XML files.\r\n\r\nThe updated `idyntree-modelio-urdf` depends on `idyntree-modelio-xml` and adapts the generated tree to create a `Model` and `SensorsList` objects.\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/idyntree/issues/comments/408817281","html_url":"https://github.com/robotology/idyntree/pull/460#issuecomment-408817281","issue_url":"https://api.github.com/repos/robotology/idyntree/issues/460","id":408817281,"node_id":"MDEyOklzc3VlQ29tbWVudDQwODgxNzI4MQ==","user":{"login":"ahmadgazar","id":15094592,"node_id":"MDQ6VXNlcjE1MDk0NTky","avatar_url":"https://avatars3.githubusercontent.com/u/15094592?v=4","gravatar_id":"","url":"https://api.github.com/users/ahmadgazar","html_url":"https://github.com/ahmadgazar","followers_url":"https://api.github.com/users/ahmadgazar/followers","following_url":"https://api.github.com/users/ahmadgazar/following{/other_user}","gists_url":"https://api.github.com/users/ahmadgazar/gists{/gist_id}","starred_url":"https://api.github.com/users/ahmadgazar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ahmadgazar/subscriptions","organizations_url":"https://api.github.com/users/ahmadgazar/orgs","repos_url":"https://api.github.com/users/ahmadgazar/repos","events_url":"https://api.github.com/users/ahmadgazar/events{/privacy}","received_events_url":"https://api.github.com/users/ahmadgazar/received_events","type":"User","site_admin":false},"created_at":"2018-07-30T10:20:49Z","updated_at":"2018-07-30T10:20:49Z","author_association":"NONE","body":"Me and @fjandrad tested the pull request locally on my pc in Gazebo for yoga++, and everything seem to be working just fine. We will be testing it on a physical iCub for a final confirmation."}}
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