moveit2
The MoveIt Motion Planning Framework for ROS 2.
rdf_loader.h
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34 
35 /* Author: Ioan Sucan, Mathias L├╝dtke, Dave Coleman */
36 
37 #pragma once
38 
41 #include <urdf/model.h>
42 #include <srdfdom/model.h>
43 #include <rclcpp/rclcpp.hpp>
44 
45 namespace rdf_loader
46 {
47 MOVEIT_CLASS_FORWARD(RDFLoader); // Defines RDFLoaderPtr, ConstPtr, WeakPtr... etc
48 
49 using NewModelCallback = std::function<void()>;
50 
53 class RDFLoader
54 {
55 public:
72  RDFLoader(const std::shared_ptr<rclcpp::Node>& node, const std::string& ros_name = "robot_description",
73  bool default_continuous_value = false, double default_timeout = 10.0);
74 
76  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
77 
79  const std::string& getRobotDescription() const
80  {
81  return ros_name_;
82  }
83 
85  const std::string& getURDFString() const
86  {
87  return urdf_string_;
88  }
89 
91  const urdf::ModelInterfaceSharedPtr& getURDF() const
92  {
93  return urdf_;
94  }
95 
97  const srdf::ModelSharedPtr& getSRDF() const
98  {
99  return srdf_;
100  }
101 
103  {
104  new_model_cb_ = cb;
105  }
106 
108  static bool isXacroFile(const std::string& path);
109 
111  static bool loadFileToString(std::string& buffer, const std::string& path);
112 
114  static bool loadXacroFileToString(std::string& buffer, const std::string& path,
115  const std::vector<std::string>& xacro_args);
116 
119  static bool loadXmlFileToString(std::string& buffer, const std::string& path,
120  const std::vector<std::string>& xacro_args);
121 
123  static bool loadPkgFileToString(std::string& buffer, const std::string& package_name,
124  const std::string& relative_path, const std::vector<std::string>& xacro_args);
125 
126 private:
127  bool loadFromStrings();
128 
129  void urdfUpdateCallback(const std::string& new_urdf_string);
130  void srdfUpdateCallback(const std::string& new_srdf_string);
131 
132  NewModelCallback new_model_cb_;
133 
134  std::string ros_name_;
135  std::string urdf_string_, srdf_string_;
136 
137  SynchronizedStringParameter urdf_ssp_;
138  SynchronizedStringParameter srdf_ssp_;
139 
140  srdf::ModelSharedPtr srdf_;
141  urdf::ModelInterfaceSharedPtr urdf_;
142 };
143 } // namespace rdf_loader
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 isXacr...
Definition: rdf_loader.cpp:206
static bool isXacroFile(const std::string &path)
determine if given path points to a xacro file
Definition: rdf_loader.cpp:120
const srdf::ModelSharedPtr & getSRDF() const
Get the parsed SRDF model.
Definition: rdf_loader.h:97
const std::string & getURDFString() const
Get the URDF string.
Definition: rdf_loader.h:85
const std::string & getRobotDescription() const
Get the resolved parameter name for the robot description.
Definition: rdf_loader.h:79
void setNewModelCallback(const NewModelCallback &cb)
Definition: rdf_loader.h:102
const urdf::ModelInterfaceSharedPtr & getURDF() const
Get the parsed URDF model.
Definition: rdf_loader.h:91
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
Definition: rdf_loader.cpp:217
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.
Definition: rdf_loader.cpp:67
static bool loadFileToString(std::string &buffer, const std::string &path)
load file from given path into buffer
Definition: rdf_loader.cpp:128
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
Definition: rdf_loader.cpp:159
SynchronizedStringParameter is a way to load a string from the ROS environment.
MOVEIT_CLASS_FORWARD(RDFLoader)
std::function< void()> NewModelCallback
Definition: rdf_loader.h:49
string package_name
Definition: setup.py:4