rdf_loader::RDFLoader Class Reference

#include <rdf_loader.h>

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.h.

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

node	ROS interface for parameters / topics
ros_name	The string name corresponding to the URDF
default_continuous_value	Default value for parameter with "_continuous" suffix.
default_timeout	Default value for parameter with "_timeout" suffix.

Definition at line 67 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 90 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.h.

getSRDF()

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

inline

Get the parsed SRDF model.

Definition at line 101 of file rdf_loader.h.

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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.h.

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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.h.

isXacroFile()

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

static

determine if given path points to a xacro file

Definition at line 120 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 128 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 217 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 159 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 206 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.h.

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The documentation for this class was generated from the following files:

• moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
• moveit_ros/planning/rdf_loader/src/rdf_loader.cpp