modified_urdf_config.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/included_xacro_config.hpp>
#include <moveit_setup_framework/templates.hpp>
 
namespace moveit_setup
{
class ModifiedUrdfConfig : public SetupConfig
{
public:
  void onInit() override;
  bool isConfigured() const override;
 
  void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
  YAML::Node saveToYaml() const override;
 
  bool hasChanges() const;
 
  class GeneratedModifiedURDF : public TemplatedGeneratedFile
  {
  public:
    GeneratedModifiedURDF(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                          ModifiedUrdfConfig& parent)
      : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".urdf.xacro");
    }
 
    std::filesystem::path getTemplatePath() const override
    {
      return getSharePath("moveit_setup_controllers") / "templates" / "config" / "modified.urdf.xacro";
    }
 
    std::string getDescription() const override
    {
      return "A modified version of the original URDF file with additional interfaces (e.g. ros2_control, simulation)";
    }
 
    bool hasChanges() const override
    {
      return parent_.hasChanges();
    }
 
  protected:
    ModifiedUrdfConfig& parent_;
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override;
  void collectDependencies(std::set<std::string>& packages) const override;
  void collectVariables(std::vector<TemplateVariable>& variables) override;
 
protected:
  std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const
  {
    return config_data_->getAll<IncludedXacroConfig>();
  }
 
  std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const
  {
    std::vector<IncludedXacroConfig::Ptr> xacros;
    for (auto& pair : getIncludedXacroMap())
    {
      if (pair.second->isConfigured())
        xacros.push_back(pair.second);
    }
    return xacros;
  }
 
  std::vector<std::string> getIncludedXacroNames() const
  {
    std::vector<std::string> names;
    for (auto& pair : getIncludedXacroMap())
    {
      if (pair.second->isConfigured())
        names.push_back(pair.first);
    }
 
    return names;
  }
 
  std::shared_ptr<URDFConfig> urdf_config_;
  std::set<std::string> cached_xacro_names_;
};
}  // namespace moveit_setup