Updates to simmechanics_to_urdf and resource_retriever
This commit is contained in:
davidlu
parent
4f07e9d19a
commit
3970d34724
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@ -0,0 +1,36 @@
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import roslib; roslib.load_manifest('resource_retriever')
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import subprocess
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import urlgrabber, string
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PACKAGE_PREFIX = 'package://'
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def rospack_find(package):
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process = subprocess.Popen(['rospack', 'find', package], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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(stdout, stderr) = process.communicate()
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if len(stderr) > 0:
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raise Exception(stderr)
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else:
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return string.strip(stdout)
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def get_filename(url, use_protocol=True ):
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mod_url = url
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if url.find(PACKAGE_PREFIX) == 0:
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mod_url = url[len(PACKAGE_PREFIX):]
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pos = mod_url.find('/')
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if pos == -1:
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raise Exception("Could not parse package:// format into file:// format for "+url)
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package = mod_url[0:pos]
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mod_url = mod_url[pos:]
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package_path = rospack_find(package)
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if use_protocol:
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protocol = "file://"
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else:
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protocol = ""
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mod_url = protocol + package_path + mod_url;
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return mod_url
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def get(url):
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return urlgrabber.urlopen(get_filename(url))
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@ -1,31 +0,0 @@
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import roslib; roslib.load_manifest('resource_retriever2')
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import rospy
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import subprocess
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import urlgrabber, string
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PACKAGE_PREFIX = 'package://'
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def rospack_find(package):
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process = subprocess.Popen(['rospack', 'find', package], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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(stdout, stderr) = process.communicate()
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if len(stderr) > 0:
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raise Exception(stderr)
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else:
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return string.strip(stdout)
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def get(url):
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mod_url = url
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if url.find(PACKAGE_PREFIX) == 0:
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mod_url = url[len(PACKAGE_PREFIX):]
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pos = mod_url.find('/')
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if pos == -1:
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raise Exception("Could not parse package:// format into file:// format for "+url)
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package = mod_url[0:pos]
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mod_url = mod_url[pos:]
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package_path = rospack_find(package)
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mod_url = "file://" + package_path + mod_url;
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return urlgrabber.urlopen(mod_url)
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@ -5,12 +5,13 @@ import rospy
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import sys
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import tf
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from tf.transformations import euler_from_quaternion, quaternion_from_matrix
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from geometry_msgs.msg import TransformStamped
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import xml.dom.minidom
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from xml.dom.minidom import Document
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import threading
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import math
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import numpy
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import numpy #for creating matrix to convert to quaternion
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import yaml
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from urdf_python.urdf import *
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# Conversion Factors
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INCH2METER = 0.0254
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@ -22,10 +23,10 @@ MM2M = .001
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WORLD = "WORLD"
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# Arbitrary List of colors to give pieces different looks
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COLORS =[("green", "0 1 0 1"), ("black", "0 0 0 1"), ("red", "1 0 0 1"),
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("blue", "0 0 1 1"), ("yellow", "1 1 0 1"), ("pink", "1 0 1 1"),
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("cyan", "0 1 1 1"), ("green", "0 1 0 1"), ("white", "1 1 1 1"),
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("dblue", "0 0 .8 1"), ("dgreen", ".1 .8 .1 1"), ("gray", ".5 .5 .5 1")]
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COLORS =[("green", (0, 1, 0, 1)), ("black", (0, 0, 0, 1)), ("red", (1, 0, 0, 1)),
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("blue", (0, 0, 1, 1)), ("yellow", (1, 1, 0, 1)), ("pink", (1, 0, 1, 1)),
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("cyan", (0, 1, 1, 1)), ("green", (0, 1, 0, 1)), ("white", (1, 1, 1, 1)),
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("dblue", (0, 0, .8, 1)), ("dgreen", (.1, .8, .1, 1)), ("gray", (.5, .5, .5, 1))]
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class Converter:
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def __init__(self):
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@ -40,7 +41,6 @@ class Converter:
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# Start the Transform Manager
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self.tfman = TransformManager()
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self.tfman.start()
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# Extra Transforms for Debugging
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self.tfman.add([0,0,0], [0.70682518,0,0,0.70682518], "ROOT", WORLD) # rotate so Z axis is up
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@ -56,12 +56,11 @@ class Converter:
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self.buildTree(self.root)
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# Create the output
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self.result = Document()
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self.output(self.root)
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# output the output
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if mode == "xml":
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print self.result.toprettyxml()
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print self.result.to_xml()
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if mode == "graph":
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print self.graph()
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if mode == "groups":
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@ -140,8 +139,7 @@ class Converter:
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colorelement = linkdict['MaterialProp'][1]
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color = colorelement.childNodes[0].data
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linkdict['MaterialProp'] = None
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linkdict['color'] = color.replace(",", " ") + " 1"
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linkdict['color'] = map(float, color.split(",")) + [1.0]
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self.links[uid] = linkdict
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self.parseFrames(frames, uid)
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@ -302,17 +300,14 @@ class Converter:
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def output(self, rootid):
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"""Creates the URDF from the parsed document.
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Makes the document and starts the recursive build process"""
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doc = self.result;
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self.root = doc.createElement("robot")
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doc.appendChild(self.root)
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self.root.setAttribute("name", self.name)
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self.result = URDF(self.name)
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self.outputLink(rootid)
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self.processLink(rootid)
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def processLink(self, id):
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""" Creates the output for the specified node's
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child links, the connecting joints, then
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recursively processes each child """
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child links, the connecting joints, then
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recursively processes each child """
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link = self.links[id]
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for cid in link['children']:
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jid = link['jointmap'][cid]
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@ -323,102 +318,78 @@ class Converter:
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def outputLink(self, id):
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""" Creates the URDF output for a single link """
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doc = self.result
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linkdict = self.links[id]
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if linkdict['name'] == "RootPart":
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return
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link = doc.createElement("link")
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link.setAttribute("name", id)
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visual = doc.createElement("visual")
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inertial = doc.createElement("inertial")
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collision = doc.createElement("collision")
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link.appendChild(visual)
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link.appendChild(inertial)
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link.appendChild(collision)
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visual = Visual()
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inertial = Inertial()
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collision = Collision()
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# Define Geometry
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geometry = doc.createElement("geometry")
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mesh = doc.createElement("mesh")
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filename = linkdict['geometryFileName']
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if self.forcelowercase:
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filename = filename.lower()
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filename = self.filenameformat % filename
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mesh.setAttribute("filename", self.filenameformat % filename)
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if self.scale != None:
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mesh.setAttribute("scale", self.scale)
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geometry.appendChild(mesh)
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visual.appendChild(geometry)
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collision.appendChild(geometry.cloneNode(1))
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visual.geometry = Mesh(filename, self.scale)
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collision.geometry = visual.geometry
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# Define Inertial Frame
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mass = doc.createElement("mass")
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units = linkdict['massUnits']
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massval = convert(float(linkdict['mass']), units)
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mass.setAttribute("value", str(massval))
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inertial.appendChild(mass)
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inertial.mass = massval
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inertia = doc.createElement("inertia")
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matrix = getlist(linkdict["inertia"])
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units = linkdict['inertiaUnits']
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for i in range(0,len(matrix)):
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matrix[i] = convert(matrix[i], units)
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inertia.setAttribute("ixx", str(matrix[0]))
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inertia.setAttribute("ixy", str(matrix[1]))
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inertia.setAttribute("ixz", str(matrix[2]))
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inertia.setAttribute("iyy", str(matrix[4]))
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inertia.setAttribute("iyz", str(matrix[5]))
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inertia.setAttribute("izz", str(matrix[8]))
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inertial.appendChild(inertia)
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inertial.matrix['ixx'] = matrix[0]
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inertial.matrix['ixy'] = matrix[1]
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inertial.matrix['ixz'] = matrix[2]
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inertial.matrix['iyy'] = matrix[4]
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inertial.matrix['iyz'] = matrix[5]
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inertial.matrix['izz'] = matrix[8]
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# Inertial origin is the center of gravity
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iorigin = doc.createElement("origin")
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(off, rot) = self.tfman.get("X" + id, id+"CG")
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rpy = list(euler_from_quaternion(rot))
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iorigin.setAttribute("xyz", " ".join(map(str,zero(off))))
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iorigin.setAttribute("rpy", " ".join(map(str,zero(rpy))))
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inertial.appendChild(iorigin)
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# Create link's origin
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origin = doc.createElement("origin")
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inertial.origin = Pose(zero(off), zero(rpy))
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# Visual offset is difference between origin and CS1
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(off, rot) = self.tfman.get("X" + id, id+"CS1")
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rpy = list(euler_from_quaternion(rot))
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origin.setAttribute("xyz", " ".join(map(str,zero(off))))
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origin.setAttribute("rpy", " ".join(map(str,zero(rpy))))
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visual.appendChild(origin)
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collision.appendChild(origin.cloneNode(1))
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visual.origin = Pose(zero(off), zero(rpy))
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collision.origin = visual.origin
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# Define Material
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material = doc.createElement("material")
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visual.material = Material()
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# Use specified color, if exists. Otherwise, get random color
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if 'color' in linkdict:
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cname = "%s_color"%id
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rgba = linkdict['color']
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(r,g,b,a) = linkdict['color']
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else:
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(cname, rgba) = self.getColor(linkdict['name'])
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material.setAttribute("name", cname)
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visual.appendChild(material)
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(cname, (r,g,b,a)) = self.getColor(linkdict['name'])
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visual.material.name = cname
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# If color has already been output, only output name
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if not cname in self.usedcolors:
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color = doc.createElement("color")
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color.setAttribute("rgba", rgba)
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material.appendChild(color)
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visual.material.color = Color(r,g,b,a)
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self.usedcolors[cname] = True
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self.root.appendChild(link)
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link = Link(id, visual, inertial, collision)
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self.result.add_link(link)
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def getColor(self, s):
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""" Gets a two element list containing a color name,
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and it's rgba. The color selected is based on the mesh name.
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If already seen, returns the saved color
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Otherwise, returns the next available color"""
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and it's rgba. The color selected is based on the mesh name.
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If already seen, returns the saved color
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Otherwise, returns the next available color"""
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if s in self.colormap:
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return self.colormap[s]
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color = COLORS[self.colorindex]
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@ -428,14 +399,11 @@ class Converter:
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def outputJoint(self, id, parentname):
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""" Outputs URDF for a single joint """
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doc = self.result
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jointdict = self.joints[id]
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if "Root" in jointdict['name']:
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return
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joint = doc.createElement("joint")
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joint.setAttribute('name', id)
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# Define the parent and child
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pid = self.getLinkNameByFrame(jointdict['parent'])
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@ -447,38 +415,27 @@ class Converter:
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cid = pid
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pid = parentname
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parent = doc.createElement("parent")
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child = doc.createElement("child")
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parent.setAttribute('link', pid)
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child.setAttribute('link', cid)
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joint.appendChild(parent)
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joint.appendChild(child)
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# Define joint type
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jtype = jointdict['type']
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joint.setAttribute('type', jtype)
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limits = None
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axis = None
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if 'limits' in jointdict:
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limit = doc.createElement("limit")
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limits = JointLimit(None, None)
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for (k,v) in jointdict['limits'].items():
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limit.setAttribute(str(k), str(v))
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joint.appendChild(limit)
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setattr(limits, k, v)
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if 'axis' in jointdict and jtype != 'fixed':
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axis = doc.createElement("axis")
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xyz = jointdict['axis'].replace(',', ' ')
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axis.setAttribute('xyz', xyz)
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joint.appendChild(axis)
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axis = jointdict['axis'].replace(',', ' ')
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# Define the origin
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origin = doc.createElement("origin")
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(off, rot) = self.tfman.get("X" + pid, "X" + cid)
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rpy = list(euler_from_quaternion(rot))
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off = zero(off)
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rpy = zero(rpy)
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origin.setAttribute("xyz", " ".join(map(str,off)))
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origin.setAttribute("rpy", " ".join(map(str,rpy)))
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joint.appendChild(origin)
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origin = Pose(zero(off), zero(rpy))
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self.root.appendChild(joint)
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joint = Joint(id, pid, cid, jtype, limits=limits, axis=axis, origin=origin)
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self.result.add_joint(joint)
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def getName(self, basename):
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"""Return a unique name of the format
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@ -540,7 +497,7 @@ class Converter:
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def groups(self, root):
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""" For planning purposes, print out lists of
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all the links between the different joints"""
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all the links between the different joints"""
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self.groups = {}
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self.makeGroup(root, "BASE")
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s = ""
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@ -554,7 +511,7 @@ class Converter:
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def makeGroup(self, id, gid):
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""" Helper function for recursively gathering
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groups of joints. """
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groups of joints. """
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if gid in self.groups:
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idlist = self.groups[gid]
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idlist.append(id)
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@ -624,9 +581,9 @@ def matrixToQuaternion(matrix):
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(R11, R12, R13, R21, R22, R23, R31, R32, R33) = matrix
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# Build 4x4 matrix
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M = [[R11, R21, R31, 0],
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[R12, R22, R32, 0],
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[R13, R23, R33, 0],
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[0, 0, 0, 1]]
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[R12, R22, R32, 0],
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[R13, R23, R33, 0],
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[0, 0, 0, 1]]
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A = numpy.array(M)
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[w,x,y,z] = quaternion_from_matrix(A)
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return [w,x,y,z]
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@ -646,48 +603,28 @@ def zero(arr):
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return arr
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class TransformManager(threading.Thread):
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"""Bridge to the ROS tf package. Constantly broadcasts
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all tfs, and retrieves them on demand."""
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class TransformManager:
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def __init__(self):
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threading.Thread.__init__(self)
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self.running = True
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self.tfs = []
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self.listener = tf.TransformListener()
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self.tf = tf.Transformer(True, rospy.Duration(10.0))
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def run(self):
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"""Broadcasts tfs until shutdown"""
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rate = rospy.Rate(10.0)
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br = tf.TransformBroadcaster()
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while self.running:
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for transform in self.tfs:
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br.sendTransform(transform['trans'],
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transform['rot'],
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rospy.Time.now(),
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transform['child'],
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transform['parent'])
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rate.sleep()
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def add(self, trans, rot, parent, child):
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def add(self, offset, angle, parent, child):
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"""Adds a new transform to the set"""
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tf = {'trans':trans, 'rot':rot, 'child':child, 'parent':parent}
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self.tfs.append(tf)
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m = TransformStamped()
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m.header.frame_id = parent
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m.child_frame_id = child
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m.transform.translation.x = offset[0]
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m.transform.translation.y = offset[1]
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m.transform.translation.z = offset[2]
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m.transform.rotation.x = angle[0]
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m.transform.rotation.y = angle[1]
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m.transform.rotation.z = angle[2]
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m.transform.rotation.w = angle[3]
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self.tf.setTransform(m)
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def get(self, parent, child):
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"""Attempts to retrieve a transform"""
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attempts = 0
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rate = rospy.Rate(10.0)
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while attempts < 50:
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try:
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(off,rpy) = self.listener.lookupTransform(parent, child, rospy.Time(0))
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return [list(off), list(rpy)]
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except (tf.LookupException, tf.ConnectivityException):
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attempts+=1
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rate.sleep()
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continue
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raise Exception("Attempt to transform %s exceeded attempt limit" % (parent + "/" + child))
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"""Retrieves a transform"""
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(off,rpy) = self.tf.lookupTransform(parent, child, rospy.Time(0))
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return [list(off), list(rpy)]
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def printTransform(self, parent, child):
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"""Attempts to print the specified transform"""
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@ -725,8 +662,6 @@ if __name__ == '__main__':
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None
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except Exception:
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raise
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finally:
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con.tfman.kill()
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except rospy.ROSInterruptException: pass
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|
|
|
|||
|
|
@ -9,6 +9,7 @@
|
|||
<depend package="rospy"/>
|
||||
<depend package="sensor_msgs"/>
|
||||
<depend package="tf"/>
|
||||
<depend package="urdf_python"/>
|
||||
<rosdep name="python-yaml"/>
|
||||
</package>
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue