moveit2
The MoveIt Motion Planning Framework for ROS 2.
modified_urdf_config.hpp
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34 
35 /* Author: David V. Lu!! */
36 
37 #pragma once
38 
41 
42 namespace moveit_setup
43 {
50 {
51 public:
52  void onInit() override;
53  bool isConfigured() const override;
54 
55  void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
56  YAML::Node saveToYaml() const override;
57 
61  bool hasChanges() const;
62 
64  {
65  public:
66  GeneratedModifiedURDF(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
67  ModifiedUrdfConfig& parent)
68  : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
69  {
70  }
71 
72  std::filesystem::path getRelativePath() const override
73  {
74  return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".urdf.xacro");
75  }
76 
77  std::filesystem::path getTemplatePath() const override
78  {
79  return getSharePath("moveit_setup_controllers") / "templates" / "config" / "modified.urdf.xacro";
80  }
81 
82  std::string getDescription() const override
83  {
84  return "A modified version of the original URDF file with additional interfaces (e.g. ros2_control, simulation)";
85  }
86 
87  bool hasChanges() const override
88  {
89  return parent_.hasChanges();
90  }
91 
92  protected:
94  };
95 
96  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
97  std::vector<GeneratedFilePtr>& files) override;
98  void collectDependencies(std::set<std::string>& packages) const override;
99  void collectVariables(std::vector<TemplateVariable>& variables) override;
100 
101 protected:
102  std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const
103  {
104  return config_data_->getAll<IncludedXacroConfig>();
105  }
106 
107  std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const
108  {
109  std::vector<IncludedXacroConfig::Ptr> xacros;
110  for (auto& pair : getIncludedXacroMap())
111  {
112  if (pair.second->isConfigured())
113  xacros.push_back(pair.second);
114  }
115  return xacros;
116  }
117 
118  std::vector<std::string> getIncludedXacroNames() const
119  {
120  std::vector<std::string> names;
121  for (auto& pair : getIncludedXacroMap())
122  {
123  if (pair.second->isConfigured())
124  names.push_back(pair.first);
125  }
126 
127  return names;
128  }
129 
130  std::shared_ptr<URDFConfig> urdf_config_;
131  std::set<std::string> cached_xacro_names_;
132 };
133 } // namespace moveit_setup
A virtual class that represents a xacro header that should be included in the modified urdf configura...
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
std::filesystem::path getTemplatePath() const override
Returns the full path to the template file.
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
GeneratedModifiedURDF(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, ModifiedUrdfConfig &parent)
std::string getDescription() const override
Returns an English description of this file's purpose.
A configuration that stores info about modifications to the URDF.
void onInit() override
Overridable initialization method.
std::vector< IncludedXacroConfig::Ptr > getIncludedXacros() const
void collectDependencies(std::set< std::string > &packages) const override
Collect the package dependencies generated by this configuration.
void collectVariables(std::vector< TemplateVariable > &variables) override
Collect key/value pairs for use in templates.
YAML::Node saveToYaml() const override
Optionally save "meta" information for saving in the .setup_assistant yaml file.
std::vector< std::string > getIncludedXacroNames() const
bool isConfigured() const override
Return true if this part of the configuration is completely set up.
void loadPrevious(const std::filesystem::path &, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
std::shared_ptr< URDFConfig > urdf_config_
std::unordered_map< std::string, IncludedXacroConfig::Ptr > getIncludedXacroMap() const
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Collect the files generated by this configuration and add them to the vector.
bool hasChanges() const
Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated...
std::set< std::string > cached_xacro_names_
where all the data for each part of the configuration is stored.
Definition: config.hpp:58
std::shared_ptr< DataWarehouse > config_data_
Definition: config.hpp:161
Specialization of GeneratedFile for generating a text file from a template.
Definition: templates.hpp:60
std::filesystem::path getSharePath(const std::string &package_name)
Return a path for the given package's share folder.
Definition: utilities.hpp:50
std::filesystem::file_time_type GeneratedTime
packages
Definition: setup.py:9