Call to xacro.process_file in utils.py load_xacro can/will throw

[acalhoon]

The latest merge to xacro -- here adds a call to re.sub which attempts to sanitize the input file path render inside an XML file. Unfortunately, because load_xacro provides a pathlib.Path the re.sub call crashes.

I think this could be fixed by changing the call to

    file = xacro.process_file(str(file_path), mappings=mappings)

Unclear to me whether this explicit conversion to string should happen in this module or in xacro. I'm curious to get the maintainers`s opinions.

Happy to submit a pull request if this is the direction you all think this should go.

[acalhoon]

This issue was fixed today in ros/xacro branches ros2 and noetic-devel

[nbbrooks]

@acalhoon Thank you for tracking this and filing the xacro issue! I think this could explain why the green lights on moveit/moveit2#3567 disappeared with new, unrelated errors between CI runs. Perhaps that xacro change was included in the Sep 5 Rolling release?

[acalhoon]

Perhaps that xacro change was included in the Sep 5 Rolling release?

It sure seems likely. The commits for the fix in xacro were merged on Aug 28.