Adds drake package for model URI resolution

BUILD.bazel

@@ -16,6 +16,7 @@ exports_files([
     ".bazelproject",
     ".clang-format",
     ".drake-find_resource-sentinel",
+    "package.xml",
 ])
 
 # Drake's top-level module; all drake_py_stuff rules add this to deps.

bindings/pydrake/multibody/parsing_py.cc

@@ -33,6 +33,8 @@ PYBIND11_MODULE(parsing, m) {
             py::arg("package_path"), cls_doc.Add.doc)
         .def("Contains", &Class::Contains, py::arg("package_name"),
             cls_doc.Contains.doc)
+        .def("Remove", &Class::Remove, py::arg("package_name"),
+            cls_doc.Remove.doc)
         .def("size", &Class::size, cls_doc.size.doc)
         .def("GetPath", &Class::GetPath, py::arg("package_name"),
             cls_doc.GetPath.doc)

bindings/pydrake/multibody/test/parsing_test.py

@@ -31,7 +31,10 @@ def test_package_map(self):
         model = FindResourceOrThrow(
             "drake/examples/atlas/urdf/atlas_minimal_contact.urdf")
 
-        # Simple coverage test for Add, Contains, size, GetPath, AddPackageXml.
+        # Simple coverage test for Remove, Add, Contains, size, GetPath,
+        # AddPackageXml.
+        dut.Remove('drake')
+        self.assertEqual(dut.size(), 0)
         dut.Add(package_name="root", package_path=tmpdir)
         self.assertEqual(dut.size(), 1)
         self.assertTrue(dut.Contains(package_name="root"))

multibody/parsing/BUILD.bazel

@@ -50,6 +50,9 @@ drake_cc_library(
     hdrs = [
         "package_map.h",
     ],
+    data = [
+        "//:package.xml",
+    ],
     visibility = [
         "//visibility:public",
     ],
@@ -379,6 +382,21 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "drake_pkg_uri_test",
+    data = [
+        ":test_models",
+    ],
+    deps = [
+        "//common:find_resource",
+        "//geometry:drake_visualizer",
+        "//geometry:scene_graph",
+        "//multibody/parsing",
+        "//systems/analysis:simulator",
+        "//systems/framework:diagram_builder",
+    ],
+)
+
 drake_cc_googletest(
     name = "detail_path_utils_test",
     data = [

multibody/parsing/package_map.cc

@@ -12,6 +12,7 @@
 #include "drake/common/drake_path.h"
 #include "drake/common/drake_throw.h"
 #include "drake/common/filesystem.h"
+#include "drake/common/find_resource.h"
 #include "drake/common/text_logging.h"
 
 namespace drake {
@@ -22,7 +23,10 @@ using std::string;
 using tinyxml2::XMLDocument;
 using tinyxml2::XMLElement;
 
-PackageMap::PackageMap() {}
+PackageMap::PackageMap() {
+  std::string drake_pkg = FindResourceOrThrow("drake/package.xml");
+  AddPackageXml(drake_pkg);
+}
 
 void PackageMap::Add(const string& package_name, const string& package_path) {
   DRAKE_THROW_UNLESS(map_.count(package_name) == 0);

multibody/parsing/test/drake_pkg_uri_test.cc

@@ -0,0 +1,92 @@
+/*
+@file
+Parses and visualizes sdf/urdf.
+
+If you wish to visualize this mesh, in its own terminal run:
+
+ $ bazel-bin/tools/drake_visualizer
+
+In a new terminal, run example to visualize model:
+
+ $ bazel run \
+   //multibody/parsing/test:drake_pkg_uri_test -- \
+   --visualize=true --visualize_sec=1
+
+*/
+
+#include <chrono>
+#include <string>
+#include <thread>
+
+#include <fmt/format.h>
+#include <gflags/gflags.h>
+#include <gtest/gtest.h>
+
+#include "drake/common/find_resource.h"
+#include "drake/geometry/drake_visualizer.h"
+#include "drake/geometry/scene_graph.h"
+#include "drake/multibody/parsing/parser.h"
+#include "drake/systems/analysis/simulator.h"
+#include "drake/systems/framework/diagram_builder.h"
+
+DEFINE_bool(
+    visualize, false, "Publish model to Drake Visualizer.");
+DEFINE_double(
+    visualize_sec, 0., "Amount of time to pause between each model to "
+    "visualize in Drake Visualizer.");
+
+namespace drake {
+namespace multibody {
+namespace {
+
+using geometry::DrakeVisualizer;
+using geometry::SceneGraph;
+using multibody::AddMultibodyPlantSceneGraph;
+using multibody::Parser;
+using systems::DiagramBuilder;
+using systems::Simulator;
+
+class ParseTest : public testing::TestWithParam<std::string> {};
+
+TEST_P(ParseTest, ParsesSdfAndVisualizes) {
+  const std::string object_name = GetParam();
+  const std::string filename = FindResourceOrThrow(fmt::format(
+      "drake/multibody/parsing/test/drake_pkg_uri_test/{}",
+      object_name));
+
+  DiagramBuilder<double> builder;
+  auto [plant, scene_graph] = AddMultibodyPlantSceneGraph(&builder, 0.0);
+  // Record the default number of models before a new model is added.
+  const int default_num_models = plant.num_model_instances();
+
+  // Check to ensure model is parsable.
+  EXPECT_NO_THROW(Parser(&plant).AddModelFromFile(filename));
+
+  // Ensure there was exactly one model instance added for the new model.
+  EXPECT_EQ(plant.num_model_instances() - default_num_models, 1);
+
+  // Visualize via publishing, if requested.
+  if (FLAGS_visualize || FLAGS_visualize_sec > 0.0) {
+    DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+    plant.Finalize();
+    auto diagram = builder.Build();
+    drake::log()->info("Visualize: {}", object_name);
+    Simulator<double> simulator(*diagram);
+    simulator.Initialize();
+    diagram->Publish(simulator.get_context());
+    if (FLAGS_visualize_sec > 0.0) {
+      drake::log()->info("Pausing for {} sec...", FLAGS_visualize_sec);
+      std::this_thread::sleep_for(
+          std::chrono::milliseconds(
+              static_cast<int>(1000 * FLAGS_visualize_sec)));
+    }
+  }
+}
+
+
+INSTANTIATE_TEST_SUITE_P(DRAKE_URI_MODEL, ParseTest,
+  testing::Values("cube_visual.sdf", "cube_visual.urdf"));
+
+}  // namespace
+}  // namespace multibody
+}  // namespace drake

multibody/parsing/test/drake_pkg_uri_test/cube_visual.sdf

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<sdf version="1.9">
+  <model name="cube_robot">
+    <link name="link0">
+      <visual name="cube">
+        <geometry>
+          <mesh>
+            <uri>package://drake/multibody/parsing/test/tri_cube.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="weld_link0" type="fixed">
+      <parent>world</parent>
+      <child>link0</child>
+    </joint>
+  </model>
+</sdf>

multibody/parsing/test/drake_pkg_uri_test/cube_visual.urdf

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot name="cube_robot">
+  <link name="link0">
+    <inertial>
+      <mass value="1"/>
+    </inertial>
+    <visual name="cube">
+      <geometry>
+        <mesh filename="package://drake/multibody/parsing/test/tri_cube.obj"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>

multibody/parsing/test/package_map_test.cc

@@ -69,6 +69,8 @@ GTEST_TEST(PackageMapTest, TestManualPopulation) {
   };
 
   PackageMap package_map;
+  package_map.Remove("drake");
+
   for (const auto& it : expected_packages) {
     package_map.Add(it.first, it.second);
   }
@@ -95,6 +97,7 @@ GTEST_TEST(PackageMapTest, TestPopulateFromXml) {
   const string xml_dirname =
       filesystem::path(xml_filename).parent_path().string();
   PackageMap package_map;
+  package_map.Remove("drake");
   package_map.AddPackageXml(xml_filename);
 
   map<string, string> expected_packages = {
@@ -107,6 +110,7 @@ GTEST_TEST(PackageMapTest, TestPopulateFromXml) {
 GTEST_TEST(PackageMapTest, TestPopulateMapFromFolder) {
   const string root_path = GetTestDataRoot();
   PackageMap package_map;
+  package_map.Remove("drake");
   package_map.PopulateFromFolder(root_path);
   VerifyMatchWithTestDataRoot(package_map);
 }
@@ -116,6 +120,7 @@ GTEST_TEST(PackageMapTest, TestPopulateMapFromFolder) {
 GTEST_TEST(PackageMapTest, TestPopulateMapFromFolderExtraTrailingSlashes) {
   const string root_path = GetTestDataRoot();
   PackageMap package_map;
+  package_map.Remove("drake");
   package_map.PopulateFromFolder(root_path + "///////");
   VerifyMatchWithTestDataRoot(package_map);
 }
@@ -129,6 +134,7 @@ GTEST_TEST(PackageMapTest, TestPopulateUpstreamToDrake) {
       "sdf/test_model.sdf");
 
   PackageMap package_map;
+  package_map.Remove("drake");
   package_map.PopulateUpstreamToDrake(sdf_file_name);
 
   map<string, string> expected_packages = {
@@ -146,6 +152,7 @@ GTEST_TEST(PackageMapTest, TestPopulateUpstreamToDrake) {
 // Tests that PackageMap can be populated from an env var.
 GTEST_TEST(PackageMapTest, TestPopulateFromEnvironment) {
   PackageMap package_map;
+  package_map.Remove("drake");
 
   // Test a null environment.
   package_map.PopulateFromEnvironment("FOOBAR");
@@ -176,6 +183,7 @@ GTEST_TEST(PackageMapTest, TestStreamingToString) {
   };
 
   PackageMap package_map;
+  package_map.Remove("drake");
   for (const auto& it : expected_packages) {
     package_map.Add(it.first, it.second);
   }

multibody/parsing/test/parser_test.cc

@@ -186,14 +186,14 @@ GTEST_TEST(FileParserTest, FindDrakePackageWhenAdding) {
       MultibodyPlant<double> plant(0.0);
       geometry::SceneGraph<double> scene_graph;
       Parser parser(&plant, &scene_graph);
-      EXPECT_EQ(parser.package_map().size(), 0);
+      const int orig_package_size = parser.package_map().size();
 
       // Because the box.sdf references an obj via a package: URI, this would
       // throw if the package were not found.
       EXPECT_NO_THROW(add_func(FindResourceOrThrow(file_name), &parser));
 
       // Now we explicitly confirm the package map has been modified.
-      EXPECT_EQ(parser.package_map().size(), 1);
+      EXPECT_EQ(parser.package_map().size(), orig_package_size+1);
       EXPECT_TRUE(parser.package_map().Contains("box_model"));
     }
   }

package.xml

@@ -0,0 +1,8 @@
+<package format="2">
+  <name>drake</name>
+  <description>
+  Model-Based Design and Verification for Robotics.
+  </description>
+  <maintainer>Drake Developers</maintainer>
+  <license>BSD-3-Clause</license>
+</package>