robot_model_test_utils.h

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/* Author: Bryce Willey */
#pragma once
 
#include <srdfdom/srdf_writer.h>
#if __has_include(<urdf/model.hpp>)
#include <urdf/model.hpp>
#else
#include <urdf/model.h>
#endif
#include <moveit/robot_model/robot_model.h>
#include <geometry_msgs/msg/pose.hpp>
 
#include <rclcpp/node.hpp>
 
namespace moveit
{
namespace core
{
 
moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& package_name,
                                                  const std::string& urdf_relative_path,
                                                  const std::string& srdf_relative_path);
 
moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name);
 
urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name);
 
srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name);
 
void loadIKPluginForGroup(const rclcpp::Node::SharedPtr& node, JointModelGroup* jmg, const std::string& base_link,
                          const std::string& tip_link, std::string plugin = "KDL", double timeout = 0.1);
 
class RobotModelBuilder
{
public:
  RobotModelBuilder(const std::string& name, const std::string& base_link_name);
 
  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));
 
  void addCollisionMesh(const std::string& link_name, const std::string& filename, geometry_msgs::msg::Pose origin);
  void addCollisionBox(const std::string& link_name, const std::vector<double>& dims, geometry_msgs::msg::Pose origin);
 
  void addVisualBox(const std::string& link_name, const std::vector<double>& size, geometry_msgs::msg::Pose origin);
 
  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);
 
  void addVirtualJoint(const std::string& parent_frame, const std::string& child_link, const std::string& type,
                       const std::string& name = "");
 
  void addGroupChain(const std::string& base_link, const std::string& tip_link, const std::string& name = "");
 
  void addGroup(const std::vector<std::string>& links, const std::vector<std::string>& joints, const std::string& name);
 
  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);
 
  bool isValid();
 
  moveit::core::RobotModelPtr build();
 
private:
  void addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& coll,
                        geometry_msgs::msg::Pose origin);
 
  void addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis, geometry_msgs::msg::Pose origin);
 
  urdf::ModelInterfaceSharedPtr urdf_model_;
  srdf::SRDFWriterPtr srdf_writer_;
 
  bool is_valid_ = true;
};
}  // namespace core
}  // namespace moveit