urdf xml should support quaternions

[baxelrod-bdai]

it would be nice if the urdf xml format accepted quaternions in addition to roll, pitch, yaw.

[VictorLamoine]

I've done some modifications in urdfdom and urdfdom_headers to make this possible (I think)

master...VictorLamoine:master
ros/urdfdom_headers@master...VictorLamoine:master

I've compiled and installed both projects on my system (in /usr/local/) but it seems that ROS is not using the new version to parse URDF files.

What should be done to make sure the new version (from /usr/local) is going to be used?

[clalancette]

@VictorLamoine You can probably use LD_LIBRARY_PATH to point to /usr/local and make it use the headers there. Worst case, if that doesn't work, then I'd suggest making a container, installing ROS into it, then manually installing the new versions of liburdfdom*.so into /usr/lib/x86_64-linux-gnu, with corresponding headers in /usr/include/urdf*.

[VictorLamoine]

Modifying LD_LIBRARY_PATH works thanks @clalancette