38#include <urdf/model.h>
52 void loadPrevious(
const std::filesystem::path& package_path,
const YAML::Node& node)
override;
56 void loadFromPath(
const std::filesystem::path& urdf_file_path,
const std::string& xacro_args =
"");
57 void loadFromPath(
const std::filesystem::path& urdf_file_path,
const std::vector<std::string>& xacro_args);
58 void loadFromPackage(
const std::filesystem::path& package_name,
const std::filesystem::path& relative_path,
59 const std::string& xacro_args =
"");
where all the data for each part of the configuration is stored.
const std::shared_ptr< urdf::Model > & getModelPtr() const
void collectDependencies(std::set< std::string > &packages) const override
Collect the package dependencies generated by this configuration.
std::filesystem::path urdf_path_
Full file-system path to urdf.
void loadFromPath(const std::filesystem::path &urdf_file_path, const std::string &xacro_args="")
Load URDF File.
std::filesystem::path urdf_pkg_relative_path_
Path relative to urdf package (note: this may be same as urdf_path_)
YAML::Node saveToYaml() const override
Optionally save "meta" information for saving in the .setup_assistant yaml file.
std::string getXacroArgs() const
bool isConfigured() const override
Return true if this part of the configuration is completely set up.
void loadFromPackage(const std::filesystem::path &package_name, const std::filesystem::path &relative_path, const std::string &xacro_args="")
std::string getRobotName() const
std::vector< std::string > xacro_args_vec_
bool urdf_from_xacro_
Flag indicating whether the URDF was loaded from .xacro format.
std::string getURDFContents() const
std::shared_ptr< urdf::Model > urdf_model_
URDF robot model.
void onInit() override
Overridable initialization method.
void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
const urdf::Model & getModel() const
std::string xacro_args_
xacro arguments in two different formats
void collectVariables(std::vector< TemplateVariable > &variables) override
Collect key/value pairs for use in templates.
std::string getURDFPackageName() const
std::filesystem::path getURDFPath() const
std::string urdf_string_
URDF robot model string.
std::string urdf_pkg_name_
Name of package containing urdf (note: this may be empty b/c user may not have urdf in pkg)