diff --git a/NEWS b/NEWS
index 7800acf8618bf379c5bd174bbc90b48deef2f707..fd573a421fbeb223fc8e6d7fc2d08dcf5a091da7 100644
--- a/NEWS
+++ b/NEWS
@@ -1,4 +1,7 @@
-*- outline -*-
+New in 6.0.0
+* parameter meshDataRootDir has been removed from idl methods addUrdf, addUrdfCollision, addUrdfObjects.
+
New in 5.3.0
* Add python trivial test
* Handle CORBA Exception
diff --git a/doc/porting-notes.hh b/doc/porting-notes.hh
new file mode 100644
index 0000000000000000000000000000000000000000..e214bbf13c138e8bad752a04e9b1a01bc4d8d1a7
--- /dev/null
+++ b/doc/porting-notes.hh
@@ -0,0 +1,12 @@
+/// \page gepetto_viewer_corba_porting_notes Porting notes
+///
+/// \section gepetto_viewer_corba_porting_5_to_6 Porting your code from version 5 to version 6
+/// \subsection gepetto_viewer_corba_porting_5_to_6_1 Modification in idl API
+///
+/// \subsubsection gepetto_viewer_corba_porting_5_to_6_1_1 Methods
+/// gepetto::corbaserver::GraphicalInterface::addURDF,
+/// gepetto::corbaserver::GraphicalInterface::addUrdfCollision, and
+/// gepetto::corbaserver::GraphicalInterface::addUrdfObjects
+///
+/// Argument meshDataRootDir has been removed. This argument was not used
+/// anymore.
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index f82600b4acf6d6070cc5daf2f4ef796d7b6c8892..87b73b2d50066df5f9284bce31d0ef0aed51fe53 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -246,46 +246,31 @@ typedef sequence<Transform> TransformSeq;
/// each geometric part is prefixed by this name,
/// \param urdfFilePath to the package containing the urdf file,
/// i.e. "/opt/ros/hydro/share/pr2_description",
- /// \param meshDataRootDir path to the package that contains the collada
- /// files, this path should finish by "/",
- /// i.e. "/opt/ros/hydro/share/"
- /// \note the parser will replace "package://" by meshDataRootDir in the
- /// urdf file.
/// a groupNode is created and each link will be child node of this node.
/// Links are named "prefix/linkName", linkName is the name of the link
/// in the URDF file.
- boolean addURDF (in string robotName, in string urdfFilePath,
- in string meshDataRootDir) raises (Error);
+ boolean addURDF (in string robotName, in string urdfFilePath)
+ raises (Error);
/// Create a node from an urdf file
/// \param robotName Name of the node that will contain the robot geometry,
/// each geometric part is prefixed by this name,
/// \param urdfFilePath to the package containing the urdf file,
/// i.e. "/opt/ros/hydro/share/pr2_description",
- /// \param meshDataRootDir path to the package that contains the collada
- /// files, this path should finish by "/",
- /// i.e. "/opt/ros/hydro/share/"
- /// \note the parser will replace "package://" by meshDataRootDir in the
- /// urdf file.
/// a groupNode is created and each link will be child node of this node.
/// Links are named "prefix/linkName", linkName is the name of the link
/// in the URDF file.
///
/// Unlike addURDF, this method will load the collision geometry instead
/// of the visual geometry.
- boolean addUrdfCollision (in string robotName, in string urdfFilePath,
- in string meshDataRootDir) raises (Error);
+ boolean addUrdfCollision (in string robotName, in string urdfFilePath)
+ raises (Error);
/// Create a node from an urdf file
/// \param nodeName Name of the node that will contain the objects,
/// each object is prefixed by this name,
/// \param urdfFilePath to the package containing the urdf file,
/// i.e. "/opt/ros/hydro/share/pr2_description",
- /// \param meshDataRootDir path to the package that contains the collada
- /// files, this path should finish by "/", i.e.
- /// "/opt/ros/hydro/share/"
- /// \note the parser will replace "package://" by meshDataRootDir in the
- /// urdf file,
/// \note visual whether to load collision or visual geometry.
/// a groupNode is created and each object will be child node of this node.
/// Objects are named "prefix/linkName", linkName is the name of the link
@@ -293,7 +278,7 @@ typedef sequence<Transform> TransformSeq;
/// corresponds to the position of objects hold by the links and not to
/// the position of objects.
void addUrdfObjects (in string nodeName, in string urdfFilePath,
- in string meshDataRootDir, in boolean visual)
+ in boolean visual)
raises (Error);
/// create a groupNode called groupName
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index c293b00c99e1c301c14ea7e4e28f51796d7dbafa..7a316a4a5f63717fecaee29ab82e49153e09d287 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -215,11 +215,11 @@ namespace gepetto {
BIND_TO_WINDOWS_MANAGER_1(BOOL, createGroup, STRING)
- BIND_TO_WINDOWS_MANAGER_3(BOOL, addURDF, STRING, STRING, STRING)
+ BIND_TO_WINDOWS_MANAGER_2(BOOL, addURDF, STRING, STRING)
- BIND_TO_WINDOWS_MANAGER_3(BOOL, addUrdfCollision, STRING, STRING, STRING)
+ BIND_TO_WINDOWS_MANAGER_2(BOOL, addUrdfCollision, STRING, STRING)
- BIND_TO_WINDOWS_MANAGER_4(VOID, addUrdfObjects, STRING, STRING, STRING, BOOL)
+ BIND_TO_WINDOWS_MANAGER_3(VOID, addUrdfObjects, STRING, STRING, BOOL)
BIND_TO_WINDOWS_MANAGER_2(BOOL, addToGroup, STRING, STRING)
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 7ffaad999dafab6ffad451b0742e81ad56f3cefd..393aae5494e0d6708ae18db8e755ed8abcb64427 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -113,16 +113,15 @@ public:
virtual bool addNodeToRoadmap(const char* nameRoadmap, const value_type* configuration) throw(Error);
- virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
+ virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba)
+ throw (Error);
virtual bool addUrdfCollision (const char* urdfNameCorba,
- const char* urdfPathCorba,
- const char* urdfPackagePathCorba)
+ const char* urdfPathCorba)
throw (Error);
virtual void addUrdfObjects (const char* urdfNameCorba,
const char* urdfPathCorba,
- const char* urdfPackagePathCorba,
bool visual)
throw (Error);