From 9f7a377e91f45dcce84482e544d13a2426079de1 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Wed, 30 Aug 2023 17:15:07 +0200
Subject: [PATCH] Use relative path in an urdf include to avoid confusion
 between internal and system headers (#1259)

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
---
 src/urdf/urdf_parser/check_urdf.cpp      | 2 +-
 src/urdf/urdf_parser/joint.cpp           | 2 +-
 src/urdf/urdf_parser/link.cpp            | 2 +-
 src/urdf/urdf_parser/model.cpp           | 6 +++++-
 src/urdf/urdf_parser/pose.cpp            | 2 +-
 src/urdf/urdf_parser/urdf_to_graphiz.cpp | 2 +-
 src/urdf/urdf_parser/world.cpp           | 2 +-
 7 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/urdf/urdf_parser/check_urdf.cpp b/src/urdf/urdf_parser/check_urdf.cpp
index 1222f2c05..50624c71a 100644
--- a/src/urdf/urdf_parser/check_urdf.cpp
+++ b/src/urdf/urdf_parser/check_urdf.cpp
@@ -35,7 +35,7 @@
 /* Author: Wim Meeussen */
 #pragma warning(push, 0)
 
-#include "urdf_parser/urdf_parser.h"
+#include "../urdf_parser/urdf_parser.h"
 #include <iostream>
 #include <fstream>
 
diff --git a/src/urdf/urdf_parser/joint.cpp b/src/urdf/urdf_parser/joint.cpp
index 48765718d..c00958ff9 100644
--- a/src/urdf/urdf_parser/joint.cpp
+++ b/src/urdf/urdf_parser/joint.cpp
@@ -41,7 +41,7 @@
 #include <urdf_model/joint.h>
 // #include <console_bridge/console.h>
 #include <tinyxml2.h>
-#include <urdf_parser/urdf_parser.h>
+#include "../urdf_parser/urdf_parser.h"
 
 namespace urdf{
 
diff --git a/src/urdf/urdf_parser/link.cpp b/src/urdf/urdf_parser/link.cpp
index 415c4ee5d..8c7555cfe 100644
--- a/src/urdf/urdf_parser/link.cpp
+++ b/src/urdf/urdf_parser/link.cpp
@@ -35,7 +35,7 @@
 /* Author: Wim Meeussen */
 #pragma warning(push, 0)
 
-#include <urdf_parser/urdf_parser.h>
+#include "../urdf_parser/urdf_parser.h"
 #include <urdf_model/link.h>
 #include <fstream>
 #include <sstream>
diff --git a/src/urdf/urdf_parser/model.cpp b/src/urdf/urdf_parser/model.cpp
index 804c39435..9ff9b15e9 100644
--- a/src/urdf/urdf_parser/model.cpp
+++ b/src/urdf/urdf_parser/model.cpp
@@ -36,7 +36,11 @@
 #pragma warning(push, 0)
 
 #include <vector>
-#include "urdf_parser/urdf_parser.h"
+// Use relative path to avoid confusion with urdf system headers (if present).
+// The change to the relative path is only required to be present in this
+// file given how MSVC include headers. See:
+// https://github.com/gazebosim/sdformat/pull/1259/files#r1149821498
+#include "../urdf_parser/urdf_parser.h"
 // #include <console_bridge/console.h>
 #include <fstream>
 
diff --git a/src/urdf/urdf_parser/pose.cpp b/src/urdf/urdf_parser/pose.cpp
index 32207e1be..a47d5c11e 100644
--- a/src/urdf/urdf_parser/pose.cpp
+++ b/src/urdf/urdf_parser/pose.cpp
@@ -41,7 +41,7 @@
 #include <algorithm>
 // #include <console_bridge/console.h>
 #include <tinyxml2.h>
-#include <urdf_parser/urdf_parser.h>
+#include "../urdf_parser/urdf_parser.h"
 
 namespace urdf_export_helpers {
 
diff --git a/src/urdf/urdf_parser/urdf_to_graphiz.cpp b/src/urdf/urdf_parser/urdf_to_graphiz.cpp
index eae2c8229..9f72efd12 100644
--- a/src/urdf/urdf_parser/urdf_to_graphiz.cpp
+++ b/src/urdf/urdf_parser/urdf_to_graphiz.cpp
@@ -35,7 +35,7 @@
 /* Author: Wim Meeussen */
 #pragma warning(push, 0)
 
-#include "urdf_parser/urdf_parser.h"
+#include "../urdf_parser/urdf_parser.h"
 #include <iostream>
 #include <fstream>
 
diff --git a/src/urdf/urdf_parser/world.cpp b/src/urdf/urdf_parser/world.cpp
index c1dcb7d37..0f27bdf18 100644
--- a/src/urdf/urdf_parser/world.cpp
+++ b/src/urdf/urdf_parser/world.cpp
@@ -37,7 +37,7 @@
 
 #include <urdf_world/world.h>
 #include <urdf_model/model.h>
-#include <urdf_parser/urdf_parser.h>
+#include "../urdf_parser/urdf_parser.h"
 #include <fstream>
 #include <sstream>
 #include <algorithm>