Allow name attribute in visual tag (#31)

* Allow name attribute in visual tag

* Add name kwarg at end

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Add test for <visual name="...">

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Add version attribute to test

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Co-authored-by: Brian Gerkey <gerkey@openrobotics.org>
Co-authored-by: Shane Loretz <sloretz@osrfoundation.org>

Author: 3 people

src/urdf_parser_py/urdf.py

@@ -194,13 +194,15 @@ def check_valid(self):
 
 
 class Visual(xmlr.Object):
-    def __init__(self, geometry=None, material=None, origin=None):
+    def __init__(self, geometry=None, material=None, origin=None, name=None):
         self.geometry = geometry
         self.material = material
+        self.name = name
         self.origin = origin
 
 
 xmlr.reflect(Visual, tag='visual', params=[
+    xmlr.Attribute('name', str, False),
     origin_element,
     xmlr.Element('geometry', 'geometric'),
     xmlr.Element('material', LinkMaterial, False)

test/test_urdf.py

@@ -163,6 +163,20 @@ def test_link_multiple_visual(self):
 </robot>'''
         self.parse_and_compare(xml)
 
+    def test_visual_with_name(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test" version="1.0">
+  <link name="link">
+    <visual name="alice">
+      <geometry>
+        <cylinder length="1" radius="1"/>
+      </geometry>
+      <material name="mat"/>
+    </visual>
+  </link>
+</robot>'''
+        self.parse_and_compare(xml)
+
     def test_link_multiple_collision(self):
         xml = '''<?xml version="1.0"?>
 <robot name="test" version="1.0">