[parsing] Add support for remote packages

TODO needs mutex for const function
RobotLocomotion · Mar 16, 2023 · 7cebdc4 · 7cebdc4
1 parent 149b090
commit 7cebdc4
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Showing 12 changed files with 743 additions and 84 deletions.
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -87,6 +87,7 @@ install(
         "//geometry:install",
         "//lcmtypes:install",
         "//manipulation/models:install_data",
+        "//multibody/parsing:install",
         "//setup:install",
         "//tools/install/libdrake:install",
         "//tools/workspace:install_external_packages",

diff --git a/bindings/pydrake/multibody/parsing_py.cc b/bindings/pydrake/multibody/parsing_py.cc
@@ -32,12 +32,25 @@ PYBIND11_MODULE(parsing, m) {
     using Class = PackageMap;
     constexpr auto& cls_doc = doc.PackageMap;
     py::class_<Class> cls(m, "PackageMap", cls_doc.doc);
+    {
+      using Nested = PackageMap::RemotePackageParams;
+      constexpr auto& nested_doc = cls_doc.RemotePackageParams;
+      py::class_<Nested> nested(cls, "RemotePackageParams", nested_doc.doc);
+      nested.def(ParamInit<Nested>());
+      DefAttributesUsingSerialize(&nested, nested_doc);
+      DefReprUsingSerialize(&nested);
+      DefCopyAndDeepCopy(&nested);
+    }
     cls  // BR
         .def(py::init<>(), cls_doc.ctor.doc)
         .def(py::init<const Class&>(), py::arg("other"), "Copy constructor")
         .def("Add", &Class::Add, py::arg("package_name"),
             py::arg("package_path"), cls_doc.Add.doc)
         .def("AddMap", &Class::AddMap, py::arg("other_map"), cls_doc.AddMap.doc)
+        .def("AddPackageXml", &Class::AddPackageXml, py::arg("filename"),
+            cls_doc.AddPackageXml.doc)
+        .def("AddRemote", &Class::AddRemote, py::arg("package_name"),
+            py::arg("params"))
         .def("Contains", &Class::Contains, py::arg("package_name"),
             cls_doc.Contains.doc)
         .def("Remove", &Class::Remove, py::arg("package_name"),
@@ -53,8 +66,6 @@ PYBIND11_MODULE(parsing, m) {
               return self.GetPath(package_name);
             },
             py::arg("package_name"), cls_doc.GetPath.doc)
-        .def("AddPackageXml", &Class::AddPackageXml, py::arg("filename"),
-            cls_doc.AddPackageXml.doc)
         .def("PopulateFromFolder", &Class::PopulateFromFolder, py::arg("path"),
             cls_doc.PopulateFromFolder.doc)
         .def("PopulateFromEnvironment", &Class::PopulateFromEnvironment,

diff --git a/bindings/pydrake/multibody/test/parsing_test.py b/bindings/pydrake/multibody/test/parsing_test.py
@@ -68,6 +68,16 @@ def test_package_map(self):
         dut.PopulateFromEnvironment(environment_variable='TEST_TMPDIR')
         dut.PopulateFromFolder(path=tmpdir)
 
+        # Simple coverage for remote packages (and their Params).
+        params = PackageMap.RemotePackageParams()
+        params.urls = ["file:///tmp/does-not-exist.zip"]
+        params.sha256 = "0" * 64
+        params.archive_type = "zip"
+        params.strip_prefix = "prefix"
+        dut.AddRemote(package_name="remote", params=params)
+        with self.assertRaisesRegex(RuntimeError, "downloader.*error"):
+            dut.GetPath("remote")
+
     def test_parser_file(self):
         """Calls every combination of arguments for the Parser methods which
         use a file_name (not contents) and inspects their return type.

diff --git a/multibody/parsing/BUILD.bazel b/multibody/parsing/BUILD.bazel
@@ -10,6 +10,7 @@ load(
     "drake_py_library",
     "drake_py_unittest",
 )
+load("@drake//tools/install:install.bzl", "install_files")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("@drake//tools/workspace:forward_files.bzl", "forward_files")
 load(
@@ -58,15 +59,22 @@ drake_cc_library(
     srcs = ["package_map.cc"],
     hdrs = ["package_map.h"],
     data = [
+        ":package_downloader.py",
         "//:package.xml",
         "@models_internal//:package.xml",
     ],
     visibility = ["//visibility:public"],
     interface_deps = [
         "//common:essential",
+        "//common:name_value",
     ],
     deps = [
-        "//common",
+        "//common:find_cache",
+        "//common:find_resource",
+        "//common:find_runfiles",
+        "//common:scope_exit",
+        "//common:unused",
+        "//common/yaml",
         "@tinyxml2_internal//:tinyxml2",
     ],
 )
@@ -619,6 +627,20 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "package_map_remote_test",
+    data = [
+        "test/package_map_test_packages/compressed.zip",
+    ],
+    deps = [
+        ":package_map",
+        "//common:find_cache",
+        "//common:find_resource",
+        "//common:scope_exit",
+        "//common/test_utilities:expect_throws_message",
+    ],
+)
+
 drake_cc_googletest(
     name = "drake_manifest_resolution_test",
     data = [
@@ -667,4 +689,11 @@ drake_cc_googletest(
     ],
 )
 
+install_files(
+    name = "install",
+    dest = "share/drake/multibody/parsing",
+    files = ["package_downloader.py"],
+    visibility = ["//visibility:public"],
+)
+
 add_lint_tests()