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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Static Public Member Functions | List of all members
rdf_loader::RDFLoader Class Reference

#include <rdf_loader.hpp>

Public Member Functions

 RDFLoader (const std::shared_ptr< rclcpp::Node > &node, const std::string &ros_name="robot_description", bool default_continuous_value=false, double default_timeout=10.0)
 Default constructor.
 RDFLoader (const std::string &urdf_string, const std::string &srdf_string)
 Initialize the robot model from a string representation of the URDF and SRDF documents.
const std::string & getRobotDescription () const
 Get the resolved parameter name for the robot description.
const std::string & getURDFString () const
 Get the URDF string.
const urdf::ModelInterfaceSharedPtr & getURDF () const
 Get the parsed URDF model.
const srdf::ModelSharedPtr & getSRDF () const
 Get the parsed SRDF model.
void setNewModelCallback (const NewModelCallback &cb)

Static Public Member Functions

static bool isXacroFile (const std::string &path)
 determine if given path points to a xacro file
static bool loadFileToString (std::string &buffer, const std::string &path)
 load file from given path into buffer
static bool loadXacroFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
 run xacro with the given args on the file, return result in buffer
static bool loadXmlFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
 helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()
static bool loadPkgFileToString (std::string &buffer, const std::string &package_name, const std::string &relative_path, const std::vector< std::string > &xacro_args)
 helper that generates a file path based on package name and relative file path to package

Detailed Description

Definition at line 57 of file rdf_loader.hpp.

Constructor & Destructor Documentation

◆ RDFLoader() [1/2]

rdf_loader::RDFLoader::RDFLoader ( const std::shared_ptr< rclcpp::Node > & node,
const std::string & ros_name = "robot_description",
bool default_continuous_value = false,
double default_timeout = 10.0 )

Default constructor.

Loads the URDF from a parameter given by the string argument, and the SRDF that has the same name + the "_semantic" suffix

If the parameter does not exist, attempt to subscribe to topics with the same name and type std_msgs::msg::String.

(specifying default_continuous_value/default_timeout allows users to specify values without setting ros parameters)

Parameters
nodeROS interface for parameters / topics
ros_nameThe string name corresponding to the URDF
default_continuous_valueDefault value for parameter with "_continuous" suffix.
default_timeoutDefault value for parameter with "_timeout" suffix.

Definition at line 86 of file rdf_loader.cpp.

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◆ RDFLoader() [2/2]

rdf_loader::RDFLoader::RDFLoader ( const std::string & urdf_string,
const std::string & srdf_string )

Initialize the robot model from a string representation of the URDF and SRDF documents.

Definition at line 109 of file rdf_loader.cpp.

Member Function Documentation

◆ getRobotDescription()

const std::string & rdf_loader::RDFLoader::getRobotDescription ( ) const
inline

Get the resolved parameter name for the robot description.

Definition at line 83 of file rdf_loader.hpp.

◆ getSRDF()

const srdf::ModelSharedPtr & rdf_loader::RDFLoader::getSRDF ( ) const
inline

Get the parsed SRDF model.

Definition at line 101 of file rdf_loader.hpp.

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◆ getURDF()

const urdf::ModelInterfaceSharedPtr & rdf_loader::RDFLoader::getURDF ( ) const
inline

Get the parsed URDF model.

Definition at line 95 of file rdf_loader.hpp.

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◆ getURDFString()

const std::string & rdf_loader::RDFLoader::getURDFString ( ) const
inline

Get the URDF string.

Definition at line 89 of file rdf_loader.hpp.

◆ isXacroFile()

bool rdf_loader::RDFLoader::isXacroFile ( const std::string & path)
static

determine if given path points to a xacro file

Definition at line 139 of file rdf_loader.cpp.

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◆ loadFileToString()

bool rdf_loader::RDFLoader::loadFileToString ( std::string & buffer,
const std::string & path )
static

load file from given path into buffer

Definition at line 147 of file rdf_loader.cpp.

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◆ loadPkgFileToString()

bool rdf_loader::RDFLoader::loadPkgFileToString ( std::string & buffer,
const std::string & package_name,
const std::string & relative_path,
const std::vector< std::string > & xacro_args )
static

helper that generates a file path based on package name and relative file path to package

Definition at line 236 of file rdf_loader.cpp.

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◆ loadXacroFileToString()

bool rdf_loader::RDFLoader::loadXacroFileToString ( std::string & buffer,
const std::string & path,
const std::vector< std::string > & xacro_args )
static

run xacro with the given args on the file, return result in buffer

Definition at line 178 of file rdf_loader.cpp.

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◆ loadXmlFileToString()

bool rdf_loader::RDFLoader::loadXmlFileToString ( std::string & buffer,
const std::string & path,
const std::vector< std::string > & xacro_args )
static

helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()

Definition at line 225 of file rdf_loader.cpp.

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◆ setNewModelCallback()

void rdf_loader::RDFLoader::setNewModelCallback ( const NewModelCallback & cb)
inline

Definition at line 106 of file rdf_loader.hpp.

The documentation for this class was generated from the following files:
Generated by doxygen 1.15.0