simulation.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
 
namespace moveit_setup
{
namespace simulation
{
class Simulation : public SetupStep
{
public:
  std::string getName() const override
  {
    return "Simulation";
  }
 
  void onInit() override;
 
  bool isReady() const override
  {
    return false;
  }
 
  std::filesystem::path getURDFPath() const
  {
    return urdf_config_->getURDFPath();
  }
 
  std::string getURDFPackageName() const
  {
    return urdf_config_->getURDFPackageName();
  }
 
  std::string getURDFContents() const
  {
    return urdf_config_->getURDFContents();
  }
 
  std::string getJointHardwareInterface(const std::string& joint_name);
 
  std::string getGazeboCompatibleURDF();
 
  bool outputGazeboURDFFile(const std::filesystem::path& file_path);
 
  bool isValidXML(const std::string& new_urdf_contents, int& error_row, std::string& error_description) const;
 
protected:
  std::shared_ptr<URDFConfig> urdf_config_;
 
  // NOTE: Created when the robot urdf is not compatible with Gazebo.
  std::string gazebo_urdf_string_;
 
  bool save_gazebo_urdf_;
};
}  // namespace simulation
}  // namespace moveit_setup