Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example: More...

#include <robot_model_test_utils.h>

Public Member Functions
	RobotModelBuilder (const std::string &name, const std::string &base_link_name)
	Constructor, takes the names of the robot and the base link.

bool	isValid ()
	Returns true if the building process so far has been valid.

moveit::core::RobotModelPtr	build ()
	Builds and returns the robot model added to the builder.

URDF Functions
void	addChain (const std::string &section, const std::string &type, const std::vector< geometry_msgs::msg::Pose > &joint_origins={}, urdf::Vector3 joint_axis=urdf::Vector3(1.0, 0.0, 0.0))
	Adds a chain of links and joints to the builder. The joint names are generated automatically as "<parent>-<child>-joint".

void	addCollisionMesh (const std::string &link_name, const std::string &filename, geometry_msgs::msg::Pose origin)
	Adds a collision mesh to a specific link.

void	addCollisionBox (const std::string &link_name, const std::vector< double > &dims, geometry_msgs::msg::Pose origin)
	Adds a collision box to a specific link.

void	addVisualBox (const std::string &link_name, const std::vector< double > &size, geometry_msgs::msg::Pose origin)
	Adds a visual box to a specific link.

void	addInertial (const std::string &link_name, double mass, geometry_msgs::msg::Pose origin, double ixx, double ixy, double ixz, double iyy, double iyz, double izz)

SRDF functions
void	addVirtualJoint (const std::string &parent_frame, const std::string &child_link, const std::string &type, const std::string &name="")
	Adds a virtual joint to the SRDF.

void	addGroupChain (const std::string &base_link, const std::string &tip_link, const std::string &name="")
	Adds a new group using a chain of links. The group is the parent joint of each link in the chain.

void	addGroup (const std::vector< std::string > &links, const std::vector< std::string > &joints, const std::string &name)
	Adds a new group using a list of links and a list of joints.

void	addEndEffector (const std::string &name, const std::string &parent_link, const std::string &parent_group="", const std::string &component_group="")

void	addJointProperty (const std::string &joint_name, const std::string &property_name, const std::string &value)
	Adds a new joint property.

Detailed Description

Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example:

RobotModelBuilder builder("my_robot", "base_link");
builder.addChain("a->b->c", "continuous");
builder.addGroup({"a", "b"}, {}, "example_group");
ASSERT_TRUE(builder.isValid());
RobotModelPtr model = builder.build();

Definition at line 111 of file robot_model_test_utils.h.

Constructor & Destructor Documentation

◆ RobotModelBuilder()

moveit::core::RobotModelBuilder::RobotModelBuilder	(	const std::string &	name,
		const std::string &	base_link_name
	)

Constructor, takes the names of the robot and the base link.

Parameters

[in]	name	The name of the robot, i.e. the 'name' attribute of the robot tag in URDF
[in]	base_link_name	The name of the root link of the robot. All other links should be descendants of this

Definition at line 165 of file robot_model_test_utils.cpp.

Member Function Documentation

◆ addChain()

void moveit::core::RobotModelBuilder::addChain	(	const std::string &	section,
		const std::string &	type,
		const std::vector< geometry_msgs::msg::Pose > &	joint_origins = `{}`,
		urdf::Vector3	joint_axis = `urdf::Vector3(1.0, 0.0, 0.0)`
	)

Adds a chain of links and joints to the builder. The joint names are generated automatically as "<parent>-<child>-joint".

Parameters

[in]	section	A list of link names separated by "->". The first link should already be added to the build by the time this function is called
[in]	type	The type of the joints connecting all of the given links, e.g. "revolute" or "continuous". All of the joints will be given this type. To add multiple types of joints, call this method multiple times
[in]	joint_origins	The "parent to joint" origins for the joints connecting the links. If not used, all origins will default to the identity transform
[in]	joint_axis	The joint axis specified in the joint frame defaults to (1,0,0)

Definition at line 178 of file robot_model_test_utils.cpp.

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◆ addCollisionBox()

void moveit::core::RobotModelBuilder::addCollisionBox	(	const std::string &	link_name,
		const std::vector< double > &	dims,
		geometry_msgs::msg::Pose	origin
	)

Adds a collision box to a specific link.

Parameters

[in]	link_name	The name of the link to which the box will be added. Must already be in the builder.
[in]	size	The dimensions of the box
[in]	origin	The origin pose of this collision box relative to the link origin

Definition at line 313 of file robot_model_test_utils.cpp.

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◆ addCollisionMesh()

void moveit::core::RobotModelBuilder::addCollisionMesh	(	const std::string &	link_name,
		const std::string &	filename,
		geometry_msgs::msg::Pose	origin
	)

Adds a collision mesh to a specific link.

Parameters

[in]	link_name	The name of the link to which the mesh will be added. Must already be in the builder
[in]	filename	The path to the mesh file, e.g. "package://moveit_resources_pr2_description/urdf/meshes/base_v0/base_L.stl"
[in]	origin	The origin pose of this collision mesh relative to the link origin

Definition at line 329 of file robot_model_test_utils.cpp.

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◆ addEndEffector()

void moveit::core::RobotModelBuilder::addEndEffector	(	const std::string &	name,
		const std::string &	parent_link,
		const std::string &	parent_group = `""`,
		const std::string &	component_group = `""`
	)

Definition at line 431 of file robot_model_test_utils.cpp.

◆ addGroup()

void moveit::core::RobotModelBuilder::addGroup	(	const std::vector< std::string > &	links,
		const std::vector< std::string > &	joints,
		const std::string &	name
	)

Adds a new group using a list of links and a list of joints.

Parameters

[in]	links	The links (really their parent joints) to include in the group
[in]	joints	The joints to include in the group
[in]	name	The name of the group, required

Definition at line 421 of file robot_model_test_utils.cpp.

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◆ addGroupChain()

void moveit::core::RobotModelBuilder::addGroupChain	(	const std::string &	base_link,
		const std::string &	tip_link,
		const std::string &	name = `""`
	)

Adds a new group using a chain of links. The group is the parent joint of each link in the chain.

Parameters

[in]	base_link	The starting link of the chain
[in]	tip_link	The ending link of the chain.
[in]	name	The name of the group, if not given it's set as "<base>-<tip>-chain-group"

Definition at line 406 of file robot_model_test_utils.cpp.

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◆ addInertial()

void moveit::core::RobotModelBuilder::addInertial	(	const std::string &	link_name,
		double	mass,
		geometry_msgs::msg::Pose	origin,
		double	ixx,
		double	ixy,
		double	ixz,
		double	iyy,
		double	iyz,
		double	izz
	)

Adds an inertial component to a link.

Parameters

[in]	link_name	The name of the link for this inertial information
[in]	mass	The mass of the link
[in]	origin	The origin center pose of the center of mass of this link

Definition at line 276 of file robot_model_test_utils.cpp.

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◆ addJointProperty()

void moveit::core::RobotModelBuilder::addJointProperty	(	const std::string &	joint_name,
		const std::string &	property_name,
		const std::string &	value
	)

Adds a new joint property.

Parameters

[in]	joint_name	The name of the joint the property is specified for
[in]	property_name	The joint property name
[in]	value	The value of the joint property

Definition at line 442 of file robot_model_test_utils.cpp.

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◆ addVirtualJoint()

void moveit::core::RobotModelBuilder::addVirtualJoint	(	const std::string &	parent_frame,
		const std::string &	child_link,
		const std::string &	type,
		const std::string &	name = `""`
	)

Adds a virtual joint to the SRDF.

Parameters

[in]	parent_frame	The parent, e.g. "odom"
[in]	child_link	The child link of this virtual joint, usually the base link
[in]	type	The type of joint, can be "fixed", "floating", or "planar"
[in]	name	The name of the virtual joint, if not given it's automatically made to be "<parent_frame>-<child>-virtual-joint"

Definition at line 388 of file robot_model_test_utils.cpp.

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◆ addVisualBox()

void moveit::core::RobotModelBuilder::addVisualBox	(	const std::string &	link_name,
		const std::vector< double > &	size,
		geometry_msgs::msg::Pose	origin
	)

Adds a visual box to a specific link.

Parameters

[in]	link_name	The name of the link to which the box will be added. Must already be in the builder.
[in]	size	The dimensions of the box
[in]	origin	The origin pose of this visual box relative to the link origin

Definition at line 303 of file robot_model_test_utils.cpp.

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