modified_urdf_config.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_controllers/modified_urdf_config.hpp>
 
namespace moveit_setup
{
void ModifiedUrdfConfig::onInit()
{
  urdf_config_ = config_data_->get<URDFConfig>("urdf");
}
 
bool ModifiedUrdfConfig::isConfigured() const
{
  return !getIncludedXacros().empty();
}
 
void ModifiedUrdfConfig::loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node)
{
  std::vector<std::string> xacro_names_vector;
  if (node.IsDefined())
    getYamlProperty(node, "xacros", xacro_names_vector);
  cached_xacro_names_ = std::set(xacro_names_vector.begin(), xacro_names_vector.end());
}
 
YAML::Node ModifiedUrdfConfig::saveToYaml() const
{
  YAML::Node node;
  node["xacros"] = getIncludedXacroNames();
  return node;
}
 
bool ModifiedUrdfConfig::hasChanges() const
{
  // Returns true if any of the included xacros are configured and have individually changed
  // or the list of included xacros have changed.
  unsigned int count = 0;
  for (auto& pair : getIncludedXacroMap())
  {
    if (!pair.second->isConfigured())
    {
      continue;
    }
    if (pair.second->hasChanges() || cached_xacro_names_.count(pair.first) == 0)
    {
      return true;
    }
    count++;
  }
 
  return count != cached_xacro_names_.size();
}
 
void ModifiedUrdfConfig::collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                                      std::vector<GeneratedFilePtr>& files)
{
  files.push_back(std::make_shared<GeneratedModifiedURDF>(package_path, last_gen_time, *this));
 
  auto xacro_names = getIncludedXacroNames();
  cached_xacro_names_ = std::set<std::string>(xacro_names.begin(), xacro_names.end());
}
 
void ModifiedUrdfConfig::collectDependencies(std::set<std::string>& packages) const
{
  packages.insert("xacro");
}
 
void ModifiedUrdfConfig::collectVariables(std::vector<TemplateVariable>& variables)
{
  std::string args = "", imports = "", commands = "";
 
  for (const auto& pair : getIncludedXacroMap())
  {
    const IncludedXacroConfig::Ptr& xacro = pair.second;
    if (!xacro->isConfigured())
    {
      continue;
    }
    for (const std::pair<std::string, std::string>& argument : xacro->getArguments())
    {
      args += "    <xacro:arg name=\"";
      args += argument.first;
      args += "\" default=\"";
      args += argument.second;
      args += "\" />\n";
    }
 
    imports += "    <!-- Import ";
    imports += pair.first;
    imports += " -->\n";
 
    imports += "    <xacro:include filename=\"";
    imports += xacro->getFilepath();
    imports += "\" />\n\n";
 
    for (const std::string& command : xacro->getCommands())
    {
      commands += "    ";
      commands += command;
      commands += "\n";
    }
  }
 
  variables.push_back(TemplateVariable("MODIFIED_XACRO_ARGS", args));
  variables.push_back(TemplateVariable("MODIFIED_XACRO_IMPORTS", imports));
  variables.push_back(TemplateVariable("MODIFIED_XACRO_COMMANDS", commands));
}
}  // namespace moveit_setup
 
#include <pluginlib/class_list_macros.hpp>  // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::ModifiedUrdfConfig, moveit_setup::SetupConfig)