Add component validator for URDF validation against XSD

Author: sachinkum0009

hardware_interface/include/hardware_interface/component_validator.hpp

@@ -0,0 +1,40 @@
+// Copyright 2020 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_
+#define HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <libxml/parser.h>
+#include <libxml/xmlschemas.h>
+
+#include <string>
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
+namespace hardware_interface
+{
+
+/// Validate URDF string against an XML Schema Definition (XSD) file.
+/**
+ * \param[in] urdf string with robot's URDF
+ * \param[in] xsd_file_path path to the XSD file
+ * \return true if the URDF is valid according to the XSD, false otherwise
+ */
+bool validate_urdf_with_xsd(const std::string & urdf, const std::string & xsd_file_path);
+
+}  // namespace hardware_interface
+
+#endif  // HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_

hardware_interface/src/component_validator.cpp

@@ -0,0 +1,57 @@
+// Copyright 2025 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "ros2_control/hardware_interface/component_validator.hpp"
+
+namespace hardware_interface
+{
+bool validate_urdf_with_xsd(const std::string & urdf, const std::string & xsd_file_path)
+{
+  xmlDocPtr doc = xmlReadMemory(urdf.c_str(), static_cast<int>(urdf.size()), nullptr, nullptr, 0);
+  if (!doc)
+  {
+    return false;
+  }
+
+  xmlSchemaParserCtxtPtr schemaCtx = xmlSchemaNewParserCtxt(xsd_file_path.c_str());
+  if (!schemaCtx)
+  {
+    xmlFreeDoc(doc);
+    return false;
+  }
+  xmlSchemaPtr schema = xmlSchemaParse(schemaCtx);
+  if (!schema)
+  {
+    xmlSchemaFreeParserCtxt(schemaCtx);
+    xmlFreeDoc(doc);
+    return false;
+  }
+
+  xmlSchemaValidCtxtPtr validCtx = xmlSchemaNewValidCtxt(schema);
+  if (!validCtx)
+  {
+    xmlSchemaFree(schema);
+    xmlSchemaFreeParserCtxt(schemaCtx);
+    xmlFreeDoc(doc);
+    return false;
+  }
+  int ret = xmlSchemaValidateDoc(validCtx, doc);
+  xmlSchemaFreeValidCtxt(validCtx);
+  xmlSchemaFree(schema);
+  xmlSchemaFreeParserCtxt(schemaCtx);
+  xmlFreeDoc(doc);
+
+  return ret == 0;
+}
+}  // namespace hardware_interface