diff --git a/ChangeList.txt b/ChangeList.txt deleted file mode 100644 index 6b88f21..0000000 --- a/ChangeList.txt +++ /dev/null @@ -1,32 +0,0 @@ -= 1.10.10 = - * [[urdf_parser]] - * Package was removed - * [[urdf_parser_plugin]] - * New package containing base class for URDF parsers - * [[urdf]] - * Package now only depends on the plain URDF parser (no longer on [[collada_parser]]) - * Plugins are used to load other formats into URDF. - * [[collada_parser]] - * Interface as plugin for loading URDFs was added - -= 1.10.0 = - * Banch from 1.9.32 - * Build system updates - -= 1.9.0 = - * Branch from 1.8.0 - - * [[collada_parser]] - * Read dynamics info from collada <> - * collada parser fixes with inertial frames and parent_to_joint_origin_transform - * [[urdf_interface]] - * This package is now deprecated - * The stub that is in place points to header files installed from the urdfdom_headers library (available as deb) - * [[urdf_parser]] - * This package is now deprecated - * The stub that is in place points to header files and the libs installed from the urdfdom library (available as deb) - * [[srdf]] - * This package is now deprecated - * The stub that is in place points to header files and the libs installed from the srdfdom library (available as deb) - * [[urdf]] - * Use the rosconsole_bridge library (available as deb) to forward output from urdfdom to ROS console (effectively making things behave as they did before in terms of logging, but without having urdfdom depend on rosconsole, but on console_bridge, a much lighter dependency) diff --git a/joint_state_publisher/CHANGELOG.rst b/joint_state_publisher/CHANGELOG.rst deleted file mode 100644 index a73376b..0000000 --- a/joint_state_publisher/CHANGELOG.rst +++ /dev/null @@ -1,104 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package joint_state_publisher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.12.9 (2017-04-26) -------------------- - -1.12.8 (2017-03-27) -------------------- -* [joint_state_publisher] Handle time moving backwards - Without this patch, joint_state_publisher dies whenever the ROS time moves backwards (e.g., when running `rosbag play --clock --loop`). -* Switch a couple more packages over to Chris and Shane. -* Fix rostest dependency. -* Add recursive mimic joint (`#177 `_) - * Add recursive mimic joint -* Contributors: Alessandro Tondo, Chris Lalancette, Martin Günther, Mike Purvis - -1.12.7 (2017-01-26) -------------------- -* Fixed a crash which happened when there were ``0`` free joints, opens empty window (`#178 `_) -* Contributors: Bence Magyar - -1.12.6 (2017-01-04) -------------------- -* Migrated slots in joint state publisher gui to Qt5 (`#147 `_) -* Now uses GridLayout to support large numbers of joints and small screens (`#150 `_) -* Contributors: Bence Magyar, Michał Barciś - -1.12.5 (2016-10-27) -------------------- -* Fix initial position of sliders in joint_state_publisher GUI (`#148 `_) - Caused by a regression in 8c6cf9841cb, the slider positions are not initialized correctly - from the provided zero positions at startup. - This commit fixes the issue, by adding the call to center() again that got lost. -* Contributors: Timm Linder - -1.12.4 (2016-08-23) -------------------- - -1.12.3 (2016-06-10) -------------------- -* Fix circular logic in joint state publisher events (`#140 `_) -* Use signal and sys.exit to fix shutdown in joint_state_publisher (`#139 `_) -* joint_state_publisher: Change slider update method (`#135 `_) -* Contributors: Jackie Kay, vincentrou - -1.12.2 (2016-04-12) -------------------- -* Migrate qt (`#128 `_) - * Migrate JointStatePublisher from wxPython to qt5 -* Contributors: Jackie Kay - -1.12.1 (2016-04-10) -------------------- - -1.11.8 (2015-09-11) -------------------- - -1.11.7 (2015-04-22) -------------------- -* Added a randomize button for the joints. -* Contributors: Aaron Blasdel - -1.11.6 (2014-11-30) -------------------- -* Added floating joints to joint types ignored by publisher -* warn when joints have no limits -* add queue_size for publisher -* Contributors: Jihoon Lee, Michael Ferguson, Shaun Edwards - -1.11.5 (2014-07-24) -------------------- - -1.11.4 (2014-07-07) -------------------- -* Update package.xml - Updating author and maintainer email for consistency -* Contributors: David Lu!! - -1.11.3 (2014-06-24) -------------------- - -1.11.2 (2014-03-22) -------------------- - -1.11.1 (2014-03-20) -------------------- - -1.11.0 (2014-02-21) -------------------- -* Use #!/usr/bin/env python for systems with multiple Python versions. -* Contributors: Benjamin Chretien - -1.10.18 (2013-12-04) --------------------- - -1.10.16 (2013-11-18) --------------------- - -1.10.15 (2013-08-17) --------------------- - -* joint_state_publisher: do not install script to global bin - Also clean up no longer required setup.py diff --git a/joint_state_publisher/CMakeLists.txt b/joint_state_publisher/CMakeLists.txt deleted file mode 100644 index 7d56b8f..0000000 --- a/joint_state_publisher/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(joint_state_publisher) - -find_package(catkin REQUIRED) - -catkin_package() - -install(PROGRAMS joint_state_publisher/joint_state_publisher DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - - -if(CATKIN_ENABLE_TESTING) - find_package(rostest) - add_rostest(test/test_mimic_chain.launch) - add_rostest(test/test_mimic_cycle.launch) -endif() diff --git a/joint_state_publisher/joint_state_publisher/joint_state_publisher b/joint_state_publisher/joint_state_publisher/joint_state_publisher deleted file mode 100755 index 4ac5008..0000000 --- a/joint_state_publisher/joint_state_publisher/joint_state_publisher +++ /dev/null @@ -1,440 +0,0 @@ -#!/usr/bin/env python - -import rospy -import random - -from python_qt_binding.QtCore import pyqtSlot -from python_qt_binding.QtCore import Qt -from python_qt_binding.QtCore import Signal -from python_qt_binding.QtGui import QFont -from python_qt_binding.QtWidgets import QApplication -from python_qt_binding.QtWidgets import QHBoxLayout -from python_qt_binding.QtWidgets import QLabel -from python_qt_binding.QtWidgets import QLineEdit -from python_qt_binding.QtWidgets import QPushButton -from python_qt_binding.QtWidgets import QSlider -from python_qt_binding.QtWidgets import QVBoxLayout -from python_qt_binding.QtWidgets import QGridLayout -from python_qt_binding.QtWidgets import QSpinBox -from python_qt_binding.QtWidgets import QWidget - -import xml.dom.minidom -from sensor_msgs.msg import JointState -from math import pi -from threading import Thread -import sys -import signal -import math - -RANGE = 10000 - - -def get_param(name, value=None): - private = "~%s" % name - if rospy.has_param(private): - return rospy.get_param(private) - elif rospy.has_param(name): - return rospy.get_param(name) - else: - return value - - -class JointStatePublisher(): - def __init__(self): - description = get_param('robot_description') - robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0] - self.free_joints = {} - self.joint_list = [] # for maintaining the original order of the joints - self.dependent_joints = get_param("dependent_joints", {}) - use_mimic = get_param('use_mimic_tags', True) - use_small = get_param('use_smallest_joint_limits', True) - - self.zeros = get_param("zeros") - - pub_def_positions = get_param("publish_default_positions", True) - pub_def_vels = get_param("publish_default_velocities", False) - pub_def_efforts = get_param("publish_default_efforts", False) - - # Find all non-fixed joints - for child in robot.childNodes: - if child.nodeType is child.TEXT_NODE: - continue - if child.localName == 'joint': - jtype = child.getAttribute('type') - if jtype == 'fixed' or jtype == 'floating': - continue - name = child.getAttribute('name') - self.joint_list.append(name) - if jtype == 'continuous': - minval = -pi - maxval = pi - else: - try: - limit = child.getElementsByTagName('limit')[0] - minval = float(limit.getAttribute('lower')) - maxval = float(limit.getAttribute('upper')) - except: - rospy.logwarn("%s is not fixed, nor continuous, but limits are not specified!" % name) - continue - - safety_tags = child.getElementsByTagName('safety_controller') - if use_small and len(safety_tags) == 1: - tag = safety_tags[0] - if tag.hasAttribute('soft_lower_limit'): - minval = max(minval, float(tag.getAttribute('soft_lower_limit'))) - if tag.hasAttribute('soft_upper_limit'): - maxval = min(maxval, float(tag.getAttribute('soft_upper_limit'))) - - mimic_tags = child.getElementsByTagName('mimic') - if use_mimic and len(mimic_tags) == 1: - tag = mimic_tags[0] - entry = {'parent': tag.getAttribute('joint')} - if tag.hasAttribute('multiplier'): - entry['factor'] = float(tag.getAttribute('multiplier')) - if tag.hasAttribute('offset'): - entry['offset'] = float(tag.getAttribute('offset')) - - self.dependent_joints[name] = entry - continue - - if name in self.dependent_joints: - continue - - if self.zeros and name in self.zeros: - zeroval = self.zeros[name] - elif minval > 0 or maxval < 0: - zeroval = (maxval + minval)/2 - else: - zeroval = 0 - - joint = {'min': minval, 'max': maxval, 'zero': zeroval} - if pub_def_positions: - joint['position'] = zeroval - if pub_def_vels: - joint['velocity'] = 0.0 - if pub_def_efforts: - joint['effort'] = 0.0 - - if jtype == 'continuous': - joint['continuous'] = True - self.free_joints[name] = joint - - use_gui = get_param("use_gui", False) - - if use_gui: - num_rows = get_param("num_rows", 0) - self.app = QApplication(sys.argv) - self.gui = JointStatePublisherGui("Joint State Publisher", self, num_rows) - self.gui.show() - else: - self.gui = None - - source_list = get_param("source_list", []) - self.sources = [] - for source in source_list: - self.sources.append(rospy.Subscriber(source, JointState, self.source_cb)) - - self.pub = rospy.Publisher('joint_states', JointState, queue_size=5) - - def source_cb(self, msg): - for i in range(len(msg.name)): - name = msg.name[i] - if name not in self.free_joints: - continue - - if msg.position: - position = msg.position[i] - else: - position = None - if msg.velocity: - velocity = msg.velocity[i] - else: - velocity = None - if msg.effort: - effort = msg.effort[i] - else: - effort = None - - joint = self.free_joints[name] - if position is not None: - joint['position'] = position - if velocity is not None: - joint['velocity'] = velocity - if effort is not None: - joint['effort'] = effort - - if self.gui is not None: - # signal instead of directly calling the update_sliders method, to switch to the QThread - self.gui.sliderUpdateTrigger.emit() - - def loop(self): - hz = get_param("rate", 10) # 10hz - r = rospy.Rate(hz) - - delta = get_param("delta", 0.0) - - # Publish Joint States - while not rospy.is_shutdown(): - msg = JointState() - msg.header.stamp = rospy.Time.now() - - if delta > 0: - self.update(delta) - - # Initialize msg.position, msg.velocity, and msg.effort. - has_position = len(self.dependent_joints.items()) > 0 - has_velocity = False - has_effort = False - for name, joint in self.free_joints.items(): - if not has_position and 'position' in joint: - has_position = True - if not has_velocity and 'velocity' in joint: - has_velocity = True - if not has_effort and 'effort' in joint: - has_effort = True - num_joints = (len(self.free_joints.items()) + - len(self.dependent_joints.items())) - if has_position: - msg.position = num_joints * [0.0] - if has_velocity: - msg.velocity = num_joints * [0.0] - if has_effort: - msg.effort = num_joints * [0.0] - - for i, name in enumerate(self.joint_list): - msg.name.append(str(name)) - joint = None - - # Add Free Joint - if name in self.free_joints: - joint = self.free_joints[name] - factor = 1 - offset = 0 - # Add Dependent Joint - elif name in self.dependent_joints: - param = self.dependent_joints[name] - parent = param['parent'] - factor = param.get('factor', 1) - offset = param.get('offset', 0) - # Handle recursive mimic chain - recursive_mimic_chain_joints = [name] - while parent in self.dependent_joints: - if parent in recursive_mimic_chain_joints: - error_message = "Found an infinite recursive mimic chain" - rospy.logerr("%s: [%s, %s]", error_message, ', '.join(recursive_mimic_chain_joints), parent) - sys.exit(-1) - recursive_mimic_chain_joints.append(parent) - param = self.dependent_joints[parent] - parent = param['parent'] - offset += factor * param.get('offset', 0) - factor *= param.get('factor', 1) - joint = self.free_joints[parent] - - if has_position and 'position' in joint: - msg.position[i] = joint['position'] * factor + offset - if has_velocity and 'velocity' in joint: - msg.velocity[i] = joint['velocity'] * factor - if has_effort and 'effort' in joint: - msg.effort[i] = joint['effort'] - - self.pub.publish(msg) - try: - r.sleep() - except rospy.exceptions.ROSTimeMovedBackwardsException: - pass - - def update(self, delta): - for name, joint in self.free_joints.iteritems(): - forward = joint.get('forward', True) - if forward: - joint['position'] += delta - if joint['position'] > joint['max']: - if joint.get('continuous', False): - joint['position'] = joint['min'] - else: - joint['position'] = joint['max'] - joint['forward'] = not forward - else: - joint['position'] -= delta - if joint['position'] < joint['min']: - joint['position'] = joint['min'] - joint['forward'] = not forward - - -class JointStatePublisherGui(QWidget): - sliderUpdateTrigger = Signal() - - def __init__(self, title, jsp, num_rows=0): - super(JointStatePublisherGui, self).__init__() - self.jsp = jsp - self.joint_map = {} - self.vlayout = QVBoxLayout(self) - self.gridlayout = QGridLayout() - font = QFont("Helvetica", 9, QFont.Bold) - - ### Generate sliders ### - sliders = [] - for name in self.jsp.joint_list: - if name not in self.jsp.free_joints: - continue - joint = self.jsp.free_joints[name] - - if joint['min'] == joint['max']: - continue - - joint_layout = QVBoxLayout() - row_layout = QHBoxLayout() - - label = QLabel(name) - label.setFont(font) - row_layout.addWidget(label) - display = QLineEdit("0.00") - display.setAlignment(Qt.AlignRight) - display.setFont(font) - display.setReadOnly(True) - row_layout.addWidget(display) - - joint_layout.addLayout(row_layout) - - slider = QSlider(Qt.Horizontal) - - slider.setFont(font) - slider.setRange(0, RANGE) - slider.setValue(RANGE/2) - - joint_layout.addWidget(slider) - - self.joint_map[name] = {'slidervalue': 0, 'display': display, - 'slider': slider, 'joint': joint} - # Connect to the signal provided by QSignal - slider.valueChanged.connect(self.onValueChanged) - sliders.append(joint_layout) - - # Determine number of rows to be used in grid - self.num_rows = num_rows - # if desired num of rows wasn't set, default behaviour is a vertical layout - if self.num_rows == 0: - self.num_rows = len(sliders) # equals VBoxLayout - # Generate positions in grid and place sliders there - self.positions = self.generate_grid_positions(len(sliders), self.num_rows) - for item, pos in zip(sliders, self.positions): - self.gridlayout.addLayout(item, *pos) - - # Set zero positions read from parameters - self.center() - - # Synchronize slider and displayed value - self.sliderUpdate(None) - - # Set up a signal for updating the sliders based on external joint info - self.sliderUpdateTrigger.connect(self.updateSliders) - - self.vlayout.addLayout(self.gridlayout) - - # Buttons for randomizing and centering sliders and - # Spinbox for on-the-fly selecting number of rows - self.randbutton = QPushButton('Randomize', self) - self.randbutton.clicked.connect(self.randomize_event) - self.vlayout.addWidget(self.randbutton) - self.ctrbutton = QPushButton('Center', self) - self.ctrbutton.clicked.connect(self.center_event) - self.vlayout.addWidget(self.ctrbutton) - self.maxrowsupdown = QSpinBox() - self.maxrowsupdown.setMinimum(1) - self.maxrowsupdown.setMaximum(len(sliders)) - self.maxrowsupdown.setValue(self.num_rows) - self.maxrowsupdown.lineEdit().setReadOnly(True) # don't edit it by hand to avoid weird resizing of window - self.maxrowsupdown.valueChanged.connect(self.reorggrid_event) - self.vlayout.addWidget(self.maxrowsupdown) - - @pyqtSlot(int) - def onValueChanged(self, event): - # A slider value was changed, but we need to change the joint_info metadata. - for name, joint_info in self.joint_map.items(): - joint_info['slidervalue'] = joint_info['slider'].value() - joint = joint_info['joint'] - joint['position'] = self.sliderToValue(joint_info['slidervalue'], joint) - joint_info['display'].setText("%.2f" % joint['position']) - - @pyqtSlot() - def updateSliders(self): - self.update_sliders() - - def update_sliders(self): - for name, joint_info in self.joint_map.items(): - joint = joint_info['joint'] - joint_info['slidervalue'] = self.valueToSlider(joint['position'], - joint) - joint_info['slider'].setValue(joint_info['slidervalue']) - - def center_event(self, event): - self.center() - - def center(self): - rospy.loginfo("Centering") - for name, joint_info in self.joint_map.items(): - joint = joint_info['joint'] - joint_info['slider'].setValue(self.valueToSlider(joint['zero'], joint)) - - def reorggrid_event(self, event): - self.reorganize_grid(event) - - def reorganize_grid(self, number_of_rows): - self.num_rows = number_of_rows - - # Remove items from layout (won't destroy them!) - items = [] - for pos in self.positions: - item = self.gridlayout.itemAtPosition(*pos) - items.append(item) - self.gridlayout.removeItem(item) - - # Generate new positions for sliders and place them in their new spots - self.positions = self.generate_grid_positions(len(items), self.num_rows) - for item, pos in zip(items, self.positions): - self.gridlayout.addLayout(item, *pos) - - def generate_grid_positions(self, num_items, num_rows): - if num_rows==0: - return [] - positions = [(y, x) for x in range(int((math.ceil(float(num_items) / num_rows)))) for y in range(num_rows)] - positions = positions[:num_items] - return positions - - def randomize_event(self, event): - self.randomize() - - def randomize(self): - rospy.loginfo("Randomizing") - for name, joint_info in self.joint_map.items(): - joint = joint_info['joint'] - joint_info['slider'].setValue( - self.valueToSlider(random.uniform(joint['min'], joint['max']), joint)) - - def sliderUpdate(self, event): - for name, joint_info in self.joint_map.items(): - joint_info['slidervalue'] = joint_info['slider'].value() - self.update_sliders() - - def valueToSlider(self, value, joint): - return (value - joint['min']) * float(RANGE) / (joint['max'] - joint['min']) - - def sliderToValue(self, slider, joint): - pctvalue = slider / float(RANGE) - return joint['min'] + (joint['max']-joint['min']) * pctvalue - - -if __name__ == '__main__': - try: - rospy.init_node('joint_state_publisher') - jsp = JointStatePublisher() - - if jsp.gui is None: - jsp.loop() - else: - Thread(target=jsp.loop).start() - signal.signal(signal.SIGINT, signal.SIG_DFL) - sys.exit(jsp.app.exec_()) - - except rospy.ROSInterruptException: - pass diff --git a/joint_state_publisher/package.xml b/joint_state_publisher/package.xml deleted file mode 100644 index ef86f0d..0000000 --- a/joint_state_publisher/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - joint_state_publisher - 1.12.9 - - This package contains a tool for setting and publishing joint state values for a given URDF. - - David V. Lu!! - Jackie Kay - Chris Lalancette - Shane Loretz - - BSD - http://www.ros.org/wiki/joint_state_publisher - - catkin - - rospy - python_qt_binding - sensor_msgs - - rostest - diff --git a/joint_state_publisher/screenshot.png b/joint_state_publisher/screenshot.png deleted file mode 100644 index cb8a607..0000000 Binary files a/joint_state_publisher/screenshot.png and /dev/null differ diff --git a/joint_state_publisher/test/mimic_chain.urdf b/joint_state_publisher/test/mimic_chain.urdf deleted file mode 100644 index 9cf0c8b..0000000 --- a/joint_state_publisher/test/mimic_chain.urdf +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/joint_state_publisher/test/mimic_cycle.urdf b/joint_state_publisher/test/mimic_cycle.urdf deleted file mode 100644 index 233a7c5..0000000 --- a/joint_state_publisher/test/mimic_cycle.urdf +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/joint_state_publisher/test/test_mimic_chain.launch b/joint_state_publisher/test/test_mimic_chain.launch deleted file mode 100644 index 385edd0..0000000 --- a/joint_state_publisher/test/test_mimic_chain.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/joint_state_publisher/test/test_mimic_cycle.launch b/joint_state_publisher/test/test_mimic_cycle.launch deleted file mode 100644 index cfec4c3..0000000 --- a/joint_state_publisher/test/test_mimic_cycle.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/robot_model/CHANGELOG.rst b/robot_model/CHANGELOG.rst deleted file mode 100644 index c3103b2..0000000 --- a/robot_model/CHANGELOG.rst +++ /dev/null @@ -1,74 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package robot_model -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.12.9 (2017-04-26) -------------------- -* Adds deprecation message to robot_model package.xml (`#196 `_) -* Contributors: Shane Loretz - -1.12.8 (2017-03-27) -------------------- -* add Chris and Shane as maintainers (`#184 `_) -* Contributors: William Woodall - -1.12.7 (2017-01-26) -------------------- - -1.12.6 (2017-01-04) -------------------- - -1.12.5 (2016-10-27) -------------------- - -1.12.4 (2016-08-23) -------------------- - -1.12.3 (2016-06-10) -------------------- - -1.12.2 (2016-04-12) -------------------- - -1.12.1 (2016-04-10) -------------------- - -1.11.8 (2015-09-11) -------------------- - -1.11.7 (2015-04-22) -------------------- - -1.11.6 (2014-11-30) -------------------- - -1.11.5 (2014-07-24) -------------------- - -1.11.4 (2014-07-07) -------------------- - -1.11.3 (2014-06-24) -------------------- - -1.11.2 (2014-03-22) -------------------- - -1.11.1 (2014-03-20) -------------------- - -1.11.0 (2014-02-21) -------------------- - -1.10.18 (2013-12-04) --------------------- -* add DEPENDS for kdl_parser -* Contributors: Ioan Sucan - -1.10.16 (2013-11-18) --------------------- - -1.10.15 (2013-08-17) --------------------- -* remove unneeded deps (fix `#32 `_) -* Created new diagram for documenting URDF diff --git a/robot_model/CMakeLists.txt b/robot_model/CMakeLists.txt deleted file mode 100644 index 79a5b3e..0000000 --- a/robot_model/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(robot_model) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/robot_model/documentation/urdf_diagram.odg b/robot_model/documentation/urdf_diagram.odg deleted file mode 100644 index 08e6734..0000000 Binary files a/robot_model/documentation/urdf_diagram.odg and /dev/null differ diff --git a/robot_model/documentation/urdf_diagram.png b/robot_model/documentation/urdf_diagram.png deleted file mode 100644 index 1ea365a..0000000 Binary files a/robot_model/documentation/urdf_diagram.png and /dev/null differ diff --git a/robot_model/package.xml b/robot_model/package.xml deleted file mode 100644 index f6e1518..0000000 --- a/robot_model/package.xml +++ /dev/null @@ -1,44 +0,0 @@ - - robot_model - 1.12.9 - - robot_model contains packages for modeling various - aspects of robot information, specified in the Xml Robot - Description Format (URDF). The core package of this stack - is urdf, which parses URDF files, and constructs an - object model (C++) of the robot. - - - Ioan Sucan - Jackie Kay - Chris Lalancette - Shane Loretz - - BSD - - http://ros.org/wiki/robot_model - https://github.com/ros/robot_model - https://github.com/ros/robot_model/issues - - catkin - - liburdfdom-tools - collada_parser - collada_urdf - kdl_parser - resource_retriever - urdf - urdf_parser_plugin - joint_state_publisher - - - - This metapackage will be removed in ROS M. Replace all dependencies on - "robot_model" in your package.xml with dependencies on collada_parser, - collada_urdf, joint_state_publisher, kdl_parser, resource-retriever, urdf, - urdf_parser_plugin, and liburdfdom-tools instead. - - - - - diff --git a/urdf/CHANGELOG.rst b/urdf/CHANGELOG.rst deleted file mode 100644 index 1b659df..0000000 --- a/urdf/CHANGELOG.rst +++ /dev/null @@ -1,106 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package urdf -^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.12.9 (2017-04-26) -------------------- - -1.12.8 (2017-03-27) -------------------- -* Allow supplying NodeHandle for initParam (`#168 `_) - * Allow supplying NodeHandle for initParam using new function. - * fixed missing return statement in previous commit. -* add Chris and Shane as maintainers (`#184 `_) -* fix missed mandatory -std=c++11 flag (`#181 `_) - collada_parser,kdl_parser,urdf: add c++11 flag, - collada_parser: replace typeof with ansi __typeof\_\_ - builded/tested on gentoo - Thanks den4ix for the contribution! -* Contributors: Denis Romanchuk, Piyush Khandelwal, William Woodall - -1.12.7 (2017-01-26) -------------------- - -1.12.6 (2017-01-04) -------------------- -* Addressed gcc6 build error in the urdf package, forward port of `#156 `_ (`#173 `_) -* Now using ``urdf::*ShredPtr`` instead of ``boost::shared_ptr`` (`#144 `_) -* Contributors: Jochen Sprickerhof, William Woodall - -1.12.5 (2016-10-27) -------------------- -* Added urdf_compatibility.h header to define SharedPtr types (`#160 `_) - This provides portability for downstream packages allowing them to use urdfdom 0.3 or 0.4. -* urdf: Explicitly cast shared_ptr to bool in unit test. (`#158 `_) -* Add smart ptr typedefs (`#153 `_) -* Addressed gcc6 build error in urdf which was related to use of the isystem flag (`#157 `_) -* Remove unneeded dependency on libpcrecpp (`#155 `_) -* Contributors: Bence Magyar, Jochen Sprickerhof, Lukas Bulwahn, Maarten de Vries, Robert Haschke - -1.12.4 (2016-08-23) -------------------- - -1.12.3 (2016-06-10) -------------------- - -1.12.2 (2016-04-12) -------------------- - -1.12.1 (2016-04-10) -------------------- - -1.11.8 (2015-09-11) -------------------- -* Removed pcre hack for newer released collada-dom. -* Fixed link order of libpcrecpp. -* Contributors: Kei Okada - -1.11.7 (2015-04-22) -------------------- -* Removed the exporting of Boost and pcre as they are not used in the headers, and added TinyXML because it is. -* Fixed a bug with pcrecpp on Ubuntu > 13.04. -* Contributors: Kei Okada, William Woodall - -1.11.6 (2014-11-30) -------------------- -* Add install for static libs needed for Android cross-compilation -* Contributors: Gary Servin - -1.11.5 (2014-07-24) -------------------- - -1.11.4 (2014-07-07) -------------------- -* moving to new dependency for urdfdom and urdfdom_headers. https://github.com/ros/rosdistro/issues/4633 -* Contributors: Tully Foote - -1.11.3 (2014-06-24) -------------------- -* fix urdfdom_headers find_package re `ros/rosdistro#4633 `_ -* Contributors: Tully Foote - -1.11.2 (2014-03-22) -------------------- - -1.11.1 (2014-03-20) -------------------- - -1.11.0 (2014-02-21) -------------------- -* fix urdf files for test -* fix test at urdf -* Contributors: YoheiKakiuchi - -1.10.18 (2013-12-04) --------------------- -* add DEPENDS for kdl_parser -* Contributors: Ioan Sucan - -1.10.16 (2013-11-18) --------------------- -* check for CATKIN_ENABLE_TESTING -* fix for using collada_parser_plugin - -1.10.15 (2013-08-17) --------------------- -* fix `#30 `_ diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt deleted file mode 100644 index 6d706bc..0000000 --- a/urdf/CMakeLists.txt +++ /dev/null @@ -1,67 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(urdf) - -find_package(Boost REQUIRED thread) -find_package(urdfdom REQUIRED) -find_package(urdfdom_headers REQUIRED) -find_package(catkin REQUIRED COMPONENTS - urdf_parser_plugin pluginlib rosconsole_bridge roscpp cmake_modules) - - -find_package(TinyXML REQUIRED) - -# Find version components -if(NOT urdfdom_headers_VERSION) -set(urdfdom_headers_VERSION "0.0.0") -endif() -string(REGEX REPLACE "^([0-9]+).*" "\\1" URDFDOM_HEADERS_MAJOR_VERSION "${urdfdom_headers_VERSION}") -string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" URDFDOM_HEADERS_MINOR_VERSION "${urdfdom_headers_VERSION}") -string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" URDFDOM_HEADERS_REVISION_VERSION "${urdfdom_headers_VERSION}") -set(generated_compat_header "${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/urdfdom_compatibility.h") -include_directories("${CATKIN_DEVEL_PREFIX}/include") -configure_file(urdfdom_compatibility.h.in "${generated_compat_header}" @ONLY) - -add_compile_options(-std=c++11) - -catkin_package( - LIBRARIES ${PROJECT_NAME} - INCLUDE_DIRS include ${TinyXML_INLCLUDE_DIRS} ${CATKIN_DEVEL_PREFIX}/include - CATKIN_DEPENDS rosconsole_bridge roscpp - DEPENDS urdfdom_headers urdfdom Boost -) -install(FILES ${generated_compat_header} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) - -include_directories( - include - ${Boost_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} - ${urdfdom_INCLUDE_DIRS} - ${urdfdom_headers_INCLUDE_DIRS} - ${TinyXML_INCLUDE_DIRS} - ) - -link_directories(${Boost_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS}) - -add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp) -target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES}) - -if(APPLE) - set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") -endif(APPLE) - -if(CATKIN_ENABLE_TESTING) - find_package(catkin REQUIRED COMPONENTS rostest) - add_rostest_gtest(test_urdf_parser test/test_robot_model_parser.launch test/test_robot_model_parser.cpp) - target_link_libraries(test_urdf_parser ${PROJECT_NAME}) -endif() - -# no idea how CATKIN does this -# rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch) - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h deleted file mode 100644 index e9041d9..0000000 --- a/urdf/include/urdf/model.h +++ /dev/null @@ -1,74 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Wim Meeussen */ - -#ifndef URDF_MODEL_H -#define URDF_MODEL_H - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace urdf{ - -class Model: public ModelInterface -{ -public: - /// \brief Load Model from TiXMLElement - bool initXml(TiXmlElement *xml); - /// \brief Load Model from TiXMLDocument - bool initXml(TiXmlDocument *xml); - /// \brief Load Model given a filename - bool initFile(const std::string& filename); - /// \brief Load Model given the name of a parameter on the parameter server - bool initParam(const std::string& param); - /// \brief Load Model given the name of a parameter on the parameter server using provided nodehandle - bool initParamWithNodeHandle(const std::string& param, const ros::NodeHandle& nh = ros::NodeHandle()); - /// \brief Load Model from a XML-string - bool initString(const std::string& xmlstring); -}; - -typedef boost::shared_ptr ModelSharedPtr; -typedef boost::shared_ptr ModelConstSharedPtr; -typedef boost::weak_ptr ModelWeakPtr; - -} - -#endif diff --git a/urdf/mainpage.dox b/urdf/mainpage.dox deleted file mode 100644 index 9287a45..0000000 --- a/urdf/mainpage.dox +++ /dev/null @@ -1,159 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -urdf::Model is a class containing robot model data structure. -Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_). -The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links). -\li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J' - @verbatim - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @endverbatim - - - -\section codeapi Code API - -The URDF parser API contains the following methods: - \li Parse and build tree from XML: urdf::Model::initXml - \li Parse and build tree from File: urdf::Model::initFile - \li Parse and build tree from String: urdf::Model::initString - \li Get Root Link: urdf::Model::getRoot - \li Get Link by name urdf::Model::getLink - \li Get all Link's urdf::Model::getLinks - \li Get Joint by name urdf::Model::getJoint - - - - - - - - -*/ diff --git a/urdf/package.xml b/urdf/package.xml deleted file mode 100644 index d2148ce..0000000 --- a/urdf/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - urdf - 1.12.9 - - This package contains a C++ parser for the Unified Robot Description - Format (URDF), which is an XML format for representing a robot model. - The code API of the parser has been through our review process and will remain - backwards compatible in future releases. - - - Ioan Sucan - Jackie Kay - Chris Lalancette - Shane Loretz - - BSD - - http://ros.org/wiki/urdf - https://github.com/ros/robot_model - https://github.com/ros/robot_model/issues - - catkin - - liburdfdom-dev - liburdfdom-headers-dev - rosconsole_bridge - roscpp - urdf_parser_plugin - pluginlib - cmake_modules - rostest - - liburdfdom-dev - liburdfdom-headers-dev - rosconsole_bridge - roscpp - urdf_parser_plugin - pluginlib - - diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp deleted file mode 100644 index 03cc774..0000000 --- a/urdf/src/model.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Wim Meeussen */ - -#include "urdf/model.h" - -/* we include the default parser for plain URDF files; - other parsers are loaded via plugins (if available) */ -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -namespace urdf{ - -static bool IsColladaData(const std::string& data) -{ - return data.find(" > PARSER_PLUGIN_LOADER; - boost::mutex::scoped_lock _(PARSER_PLUGIN_LOCK); - - try - { - if (!PARSER_PLUGIN_LOADER) - PARSER_PLUGIN_LOADER.reset(new pluginlib::ClassLoader("urdf_parser_plugin", "urdf::URDFParser")); - const std::vector &classes = PARSER_PLUGIN_LOADER->getDeclaredClasses(); - bool found = false; - for (std::size_t i = 0 ; i < classes.size() ; ++i) - if (classes[i].find("urdf/ColladaURDFParser") != std::string::npos) - { - boost::shared_ptr instance = PARSER_PLUGIN_LOADER->createInstance(classes[i]); - if (instance) - model = instance->parse(xml_string); - found = true; - break; - } - if (!found) - ROS_ERROR_STREAM("No URDF parser plugin found for Collada files. Did you install the corresponding package?"); - } - catch(pluginlib::PluginlibException& ex) - { - ROS_ERROR_STREAM("Exception while creating planning plugin loader " << ex.what() << ". Will not parse Collada file."); - } - } - else { - ROS_DEBUG("Parsing robot urdf xml string"); - model = parseURDF(xml_string); - } - - // copy data from model into this object - if (model){ - this->links_ = model->links_; - this->joints_ = model->joints_; - this->materials_ = model->materials_; - this->name_ = model->name_; - this->root_link_ = model->root_link_; - return true; - } - return false; -} - - - -}// namespace diff --git a/urdf/src/rosconsole_bridge.cpp b/urdf/src/rosconsole_bridge.cpp deleted file mode 100644 index b1cd394..0000000 --- a/urdf/src/rosconsole_bridge.cpp +++ /dev/null @@ -1,38 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2011, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -#include - -REGISTER_ROSCONSOLE_BRIDGE; - diff --git a/urdf/test/fail_pr2_desc_bracket.urdf b/urdf/test/fail_pr2_desc_bracket.urdf deleted file mode 100644 index d0caaa8..0000000 --- a/urdf/test/fail_pr2_desc_bracket.urdf +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/fail_pr2_desc_double.urdf b/urdf/test/fail_pr2_desc_double.urdf deleted file mode 100644 index 10bbd4c..0000000 --- a/urdf/test/fail_pr2_desc_double.urdf +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/fail_pr2_desc_double_joint.urdf b/urdf/test/fail_pr2_desc_double_joint.urdf deleted file mode 100644 index 2974a7a..0000000 --- a/urdf/test/fail_pr2_desc_double_joint.urdf +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/fail_pr2_desc_loop.urdf b/urdf/test/fail_pr2_desc_loop.urdf deleted file mode 100644 index ab21024..0000000 --- a/urdf/test/fail_pr2_desc_loop.urdf +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/fail_pr2_desc_no_filename_in_mesh.urdf b/urdf/test/fail_pr2_desc_no_filename_in_mesh.urdf deleted file mode 100644 index 88d75b3..0000000 --- a/urdf/test/fail_pr2_desc_no_filename_in_mesh.urdf +++ /dev/null @@ -1,3377 +0,0 @@ - - - - - - - - - - - - - - - - - - - - true - 1000.0 - - - - - - true - 1000.0 - - - - - - true - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/test_robot.urdf b/urdf/test/test_robot.urdf deleted file mode 100644 index 731e1f3..0000000 --- a/urdf/test/test_robot.urdf +++ /dev/null @@ -1,425 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp deleted file mode 100644 index a730eb5..0000000 --- a/urdf/test/test_robot_model_parser.cpp +++ /dev/null @@ -1,172 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Wim Meeussen */ - -#include -#include -#include "urdf/model.h" - -// Including ros, just to be able to call ros::init(), to remove unwanted -// args from command-line. -#include - -using namespace urdf; - -int g_argc; -char** g_argv; - -class TestParser : public testing::Test -{ -public: - - bool checkModel(urdf::Model & robot) - { - // get root link - urdf::LinkConstSharedPtr root_link = robot.getRoot(); - if (!root_link) - { - ROS_ERROR("no root link %s", robot.getName().c_str()); - return false; - } - - // go through entire tree - return this->traverse_tree(root_link); - - }; - -protected: - /// constructor - // num_links starts at 1 because traverse_tree doesn't count the root node - TestParser() : num_joints(0), num_links(1) - { - } - - - /// Destructor - ~TestParser() - { - } - - bool traverse_tree(urdf::LinkConstSharedPtr link,int level = 0) - { - ROS_INFO("Traversing tree at level %d, link size %lu", level, link->child_links.size()); - level+=2; - bool retval = true; - for (std::vector::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) - { - ++num_links; - if (*child && (*child)->parent_joint) - { - ++num_joints; - // check rpy - double roll,pitch,yaw; - (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(roll,pitch,yaw); - - if (std::isnan(roll) || std::isnan(pitch) || std::isnan(yaw)) - { - ROS_ERROR("getRPY() returned nan!"); - return false; - } - // recurse down the tree - retval &= this->traverse_tree(*child,level); - } - else - { - ROS_ERROR("root link: %s has a null child!",link->name.c_str()); - return false; - } - } - // no more children - return retval; - }; - - size_t num_joints; - size_t num_links; -}; - - - - -TEST_F(TestParser, test) -{ - ASSERT_GE(g_argc, 3); - std::string folder = std::string(g_argv[1]) + "/test/"; - ROS_INFO("Folder %s",folder.c_str()); - std::string file = std::string(g_argv[2]); - bool expect_success = (file.substr(0,5) != "fail_"); - urdf::Model robot; - ROS_INFO("Parsing file %s, expecting %d",(folder + file).c_str(), expect_success); - if (!expect_success) { - ASSERT_FALSE(robot.initFile(folder + file)); - return; - } - - ASSERT_EQ(g_argc, 7); - std::string robot_name = std::string(g_argv[3]); - std::string root_name = std::string(g_argv[4]); - size_t expected_num_joints = atoi(g_argv[5]); - size_t expected_num_links = atoi(g_argv[6]); - - ASSERT_TRUE(robot.initFile(folder + file)); - - EXPECT_EQ(robot.getName(), robot_name); - urdf::LinkConstSharedPtr root = robot.getRoot(); - ASSERT_TRUE(static_cast(root)); - EXPECT_EQ(root->name, root_name); - - ASSERT_TRUE(checkModel(robot)); - EXPECT_EQ(num_joints, expected_num_joints); - EXPECT_EQ(num_links, expected_num_links); - EXPECT_EQ(robot.joints_.size(), expected_num_joints); - EXPECT_EQ(robot.links_.size(), expected_num_links); - - // test reading from parameter server - ASSERT_TRUE(robot.initParam("robot_description")); - ASSERT_FALSE(robot.initParam("robot_description_wim")); - SUCCEED(); -} - - - - -int main(int argc, char** argv) -{ - // Calling ros::init(), just to remove unwanted args from command-line. - ros::init(argc, argv, "test", ros::init_options::AnonymousName); - testing::InitGoogleTest(&argc, argv); - g_argc = argc; - g_argv = argv; - return RUN_ALL_TESTS(); -} diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch deleted file mode 100644 index 9953b55..0000000 --- a/urdf/test/test_robot_model_parser.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/urdf/test/two_links_one_joint.urdf b/urdf/test/two_links_one_joint.urdf deleted file mode 100644 index a4cf276..0000000 --- a/urdf/test/two_links_one_joint.urdf +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/urdf/urdfdom_compatibility.h.in b/urdf/urdfdom_compatibility.h.in deleted file mode 100644 index b96e186..0000000 --- a/urdf/urdfdom_compatibility.h.in +++ /dev/null @@ -1,94 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2016, CITEC, Bielefeld University -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Robert Haschke */ - -#ifndef URDF_URDFDOM_COMPATIBILITY_ -#define URDF_URDFDOM_COMPATIBILITY_ - -#define URDFDOM_HEADERS_MAJOR_VERSION @URDFDOM_HEADERS_MAJOR_VERSION@ -#define URDFDOM_HEADERS_MINOR_VERSION @URDFDOM_HEADERS_MINOR_VERSION@ -#define URDFDOM_HEADERS_REVISION_VERSION @URDFDOM_HEADERS_REVISION_VERSION@ - -// for Wily: maintain compatibility between urdfdom 0.3 and 0.4 (definining SharedPtr types) -#if URDFDOM_HEADERS_MAJOR_VERSION == 0 && URDFDOM_HEADERS_MINOR_VERSION <= 4 - -#include -#include - -#define URDF_TYPEDEF_CLASS_POINTER(Class) \ -class Class; \ -typedef boost::shared_ptr Class##SharedPtr; \ -typedef boost::shared_ptr Class##ConstSharedPtr; \ -typedef boost::weak_ptr Class##WeakPtr - -namespace urdf { -URDF_TYPEDEF_CLASS_POINTER(Box); -URDF_TYPEDEF_CLASS_POINTER(Collision); -URDF_TYPEDEF_CLASS_POINTER(Cylinder); -URDF_TYPEDEF_CLASS_POINTER(Geometry); -URDF_TYPEDEF_CLASS_POINTER(Inertial); - -URDF_TYPEDEF_CLASS_POINTER(Joint); -URDF_TYPEDEF_CLASS_POINTER(JointCalibration); -URDF_TYPEDEF_CLASS_POINTER(JointDynamics); -URDF_TYPEDEF_CLASS_POINTER(JointLimits); -URDF_TYPEDEF_CLASS_POINTER(JointMimic); -URDF_TYPEDEF_CLASS_POINTER(JointSafety); - -URDF_TYPEDEF_CLASS_POINTER(Link); -URDF_TYPEDEF_CLASS_POINTER(Material); -URDF_TYPEDEF_CLASS_POINTER(Mesh); -URDF_TYPEDEF_CLASS_POINTER(Sphere); -URDF_TYPEDEF_CLASS_POINTER(Visual); - -URDF_TYPEDEF_CLASS_POINTER(ModelInterface); -} - -#undef URDF_TYPEDEF_CLASS_POINTER - -#else // urdfdom <= 0.4 - -#include -#include - -namespace urdf { -typedef std::shared_ptr ModelInterfaceSharedPtr; -typedef std::shared_ptr ModelInterfaceConstSharedPtr; -typedef std::weak_ptr ModelInterfaceWeakPtr; -} - -#endif // urdfdom > 0.4 - -#endif // URDF_URDFDOM_COMPATIBILITY_ diff --git a/urdf_parser_plugin/CHANGELOG.rst b/urdf_parser_plugin/CHANGELOG.rst deleted file mode 100644 index f962c3b..0000000 --- a/urdf_parser_plugin/CHANGELOG.rst +++ /dev/null @@ -1,76 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package urdf_parser_plugin -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.12.9 (2017-04-26) -------------------- - -1.12.8 (2017-03-27) -------------------- -* add Chris and Shane as maintainers (`#184 `_) -* Contributors: William Woodall - -1.12.7 (2017-01-26) -------------------- - -1.12.6 (2017-01-04) -------------------- -* Now using ``urdf::*ShredPtr`` instead of ``boost::shared_ptr`` (`#144 `_) -* Contributors: Jochen Sprickerhof - -1.12.5 (2016-10-27) -------------------- - -1.12.4 (2016-08-23) -------------------- - -1.12.3 (2016-06-10) -------------------- - -1.12.2 (2016-04-12) -------------------- - -1.12.1 (2016-04-10) -------------------- - -1.11.8 (2015-09-11) -------------------- - -1.11.7 (2015-04-22) -------------------- - -1.11.6 (2014-11-30) -------------------- - -1.11.5 (2014-07-24) -------------------- - -1.11.4 (2014-07-07) -------------------- -* moving to new dependency for urdfdom and urdfdom_headers. https://github.com/ros/rosdistro/issues/4633 -* Contributors: Tully Foote - -1.11.3 (2014-06-24) -------------------- -* update usage of urdfdom_headers for indigo/trusty -* Contributors: William Woodall - -1.11.2 (2014-03-22) -------------------- - -1.11.1 (2014-03-20) -------------------- - -1.11.0 (2014-02-21) -------------------- - -1.10.18 (2013-12-04) --------------------- -* add DEPENDS for kdl_parser -* Contributors: Ioan Sucan - -1.10.16 (2013-11-18) --------------------- - -1.10.15 (2013-08-17) --------------------- diff --git a/urdf_parser_plugin/CMakeLists.txt b/urdf_parser_plugin/CMakeLists.txt deleted file mode 100644 index 75c6854..0000000 --- a/urdf_parser_plugin/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(urdf_parser_plugin) - -find_package(catkin REQUIRED) -find_package(urdfdom_headers REQUIRED) - -catkin_package( - INCLUDE_DIRS include - DEPENDS urdfdom_headers -) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) diff --git a/urdf_parser_plugin/include/urdf_parser_plugin/parser.h b/urdf_parser_plugin/include/urdf_parser_plugin/parser.h deleted file mode 100644 index 92de411..0000000 --- a/urdf_parser_plugin/include/urdf_parser_plugin/parser.h +++ /dev/null @@ -1,62 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2013, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Ioan Sucan */ - -#ifndef URDF_PARSER_PLUGIN_H -#define URDF_PARSER_PLUGIN_H - -#include - -namespace urdf -{ - -/** \brief Base class for URDF parsers */ -class URDFParser -{ -public: - URDFParser() - { - } - virtual ~URDFParser() - { - } - - /// \brief Load Model from string - virtual urdf::ModelInterfaceSharedPtr parse(const std::string &xml_string) = 0; -}; - -} - -#endif diff --git a/urdf_parser_plugin/package.xml b/urdf_parser_plugin/package.xml deleted file mode 100644 index c200fb2..0000000 --- a/urdf_parser_plugin/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - urdf_parser_plugin - 1.12.9 - - This package contains a C++ base class for URDF parsers. - - - Ioan Sucan - Jackie Kay - Chris Lalancette - Shane Loretz - - BSD - - http://ros.org/wiki/urdf - https://github.com/ros/robot_model - https://github.com/ros/robot_model/issues - - catkin - liburdfdom-headers-dev - liburdfdom-headers-dev - -