Fix bug where a sdf::ParserConfig object was not passed to all sdf::readFile calls (#824)

This fixes potential errors when loading nested models where the file search path was set using `sdf::ParserConfig::SetFindCallback` or `sdf::ParserConfig::AddURIPath`.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Author: aaronchongth

src/parser.cc

@@ -1573,7 +1573,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
           SDFPtr includeSDF(new SDF);
           includeSDF->Root(includeSDFTemplate->Root()->Clone());
 
-          if (!readFile(filename, includeSDF))
+          if (!readFile(filename, _config, includeSDF, _errors))
           {
             Error err(
                 ErrorCode::FILE_READ,

test/integration/model/simple_model/model.config

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>simple_model</name>
+  <sdf version="1.9">model.sdf</sdf>
+</model>

test/integration/model/simple_model/model.sdf

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="simple_model">
+    <link name="link"/>
+  </model>
+
+</sdf>

test/integration/model/sub_nested/model.config

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>sub_nested</name>
+  <sdf version="1.9">model.sdf</sdf>
+</model>

test/integration/model/sub_nested/model.sdf

@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="sub_nested">
+    <include>
+      <name>simple_model</name>
+      <uri>simple_model</uri>
+    </include>
+
+    <include>
+      <name>extra_model</name>
+      <uri>simple_model</uri>
+    </include>
+  </model>
+
+</sdf>

test/integration/model/top_nested/model.config

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>top_nested</name>
+  <sdf version="1.9">model.sdf</sdf>
+</model>

test/integration/model/top_nested/model.sdf

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="top_nested">
+    <include>
+      <uri>sub_nested</uri>
+    </include>
+  </model>
+
+</sdf>

test/integration/parser_config.cc

@@ -239,3 +239,22 @@ TEST(ParserConfig, ParseWithNonGlobalConfig)
     }
   }
 }
+
+/////////////////////////////////////////////////
+/// Test for ParserConfig being passed down when parsing nested models
+TEST(ParserConfig, NestedModelIncludesFilePath)
+{
+  const auto path =
+      sdf::testing::TestFile("integration", "model", "top_nested", "model.sdf");
+
+  auto findFileCb = [](const std::string &_uri)
+  {
+    return sdf::testing::TestFile("integration", "model", _uri);
+  };
+  sdf::ParserConfig config;
+  config.SetFindCallback(findFileCb);
+
+  sdf::Root root;
+  sdf::Errors errors = root.Load(path, config);
+  EXPECT_TRUE(errors.empty()) << errors;
+}