From 7bdfb82e6b07fb9fd1882d4997c78e33cae22572 Mon Sep 17 00:00:00 2001 From: Yinan Qin <39023210+ganyuanzhen@users.noreply.github.com> Date: Fri, 9 Aug 2024 16:03:10 +0800 Subject: [PATCH] Delete kdl_parser_py directory --- kdl_parser_py/CHANGELOG.rst | 287 ---------------------- kdl_parser_py/CMakeLists.txt | 19 -- kdl_parser_py/kdl_parser_py/__init__.py | 0 kdl_parser_py/kdl_parser_py/urdf.py | 128 ---------- kdl_parser_py/package.xml | 39 --- kdl_parser_py/setup.py | 10 - kdl_parser_py/test/test.urdf | 237 ------------------ kdl_parser_py/test/test_kdl_parser.launch | 3 - kdl_parser_py/test/test_kdl_parser.py | 38 --- 9 files changed, 761 deletions(-) delete mode 100644 kdl_parser_py/CHANGELOG.rst delete mode 100644 kdl_parser_py/CMakeLists.txt delete mode 100644 kdl_parser_py/kdl_parser_py/__init__.py delete mode 100644 kdl_parser_py/kdl_parser_py/urdf.py delete mode 100644 kdl_parser_py/package.xml delete mode 100644 kdl_parser_py/setup.py delete mode 100644 kdl_parser_py/test/test.urdf delete mode 100644 kdl_parser_py/test/test_kdl_parser.launch delete mode 100755 kdl_parser_py/test/test_kdl_parser.py diff --git a/kdl_parser_py/CHANGELOG.rst b/kdl_parser_py/CHANGELOG.rst deleted file mode 100644 index 6d10af4..0000000 --- a/kdl_parser_py/CHANGELOG.rst +++ /dev/null @@ -1,287 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package kdl_parser_py -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.14.2 (2022-04-13) -------------------- -* Restored compatibility with Orocos KDL after Joint.None was removed (`#45 `_) -* Contributors: Julian Förster - -1.14.1 (2020-08-24) -------------------- -* Drop CATKIN_IGNORE (`#42 `_) -* Contributors: Jochen Sprickerhof - -1.14.0 (2020-04-13) -------------------- -* Used keys for Orocos (`#38 `_) -* Contributors: Alejandro Hernández Cordero - -1.13.1 (2018-07-23) -------------------- -* Remove the declaration of a library from kdl_parser_py. (`#14 `_) -* Remove unused kdl_parser_py.urdf. (`#17 `_) -* Contributors: Chris Lalancette - -1.13.0 (2018-04-05) -------------------- -* Make rostest a test_depend (`#3 `_) -* update links now that this is in its own repo -* Contributors: Chris Lalancette, Mikael Arguedas - -1.12.10 (2017-05-17) --------------------- - -1.12.9 (2017-04-26) -------------------- -* Unset origin xyz or rpy is now properly interpreted as zero vector (`#187 `_) -* Contributors: eugene-katsevman - -1.12.8 (2017-03-27) -------------------- -* Switch a couple more packages over to Chris and Shane. -* Contributors: Chris Lalancette - -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) -------------------- -* Remove cmake_modules dependency -* Contributors: Jackie Kay - -1.12.0 (2016-04-04) -------------------- - -1.11.10 (2016-02-23) --------------------- -* another patch release -* Remove cmake_modules dependency -* Contributors: Jackie Kay - -1.11.9 (2016-02-22) -------------------- -* Changelog -* kdl_parser_py: run_depend on urdfdom_py -* Remove dependency in urdf_parser_py -* kdl_parser: Adding python kdl parser -* Contributors: Jackie Kay, Jonathan Bohren, Steven Peters - -1.11.8 (2015-09-11) -------------------- - -1.11.7 (2015-04-22) -------------------- - -1.11.6 (2014-11-30 11:17) -------------------------- - -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) -------------------- - -1.10.21 (2014-11-30 11:15) --------------------------- - -1.10.20 (2014-08-01) --------------------- - -1.10.19 (2014-02-15) --------------------- - -1.10.18 (2013-12-04) --------------------- - -1.10.17 (2013-11-22) --------------------- - -1.10.16 (2013-11-18) --------------------- - -1.10.15 (2013-08-17) --------------------- - -1.10.14 (2013-07-26) --------------------- - -1.10.13 (2013-07-17) --------------------- - -1.10.12 (2013-07-02 08:41) --------------------------- - -1.10.11 (2013-05-21) --------------------- - -1.10.10 (2013-05-20) --------------------- - -1.10.9 (2013-04-21) -------------------- - -1.10.8 (2013-04-18 12:24) -------------------------- - -1.10.7 (2013-04-18 10:19) -------------------------- - -1.10.6 (2013-04-18 01:56) -------------------------- - -1.10.5 (2013-04-18 01:46) -------------------------- - -1.10.4 (2013-04-12) -------------------- - -1.10.3 (2013-03-13 22:22) -------------------------- - -1.10.2 (2013-03-13 17:34) -------------------------- - -1.10.1 (2013-03-13 17:15) -------------------------- - -1.10.0 (2013-03-11 19:48) -------------------------- - -1.9.36 (2013-07-02 08:38) -------------------------- - -1.9.35 (2013-04-29) -------------------- - -1.9.34 (2013-04-18 18:17) -------------------------- - -1.9.33 (2013-03-11 19:49) -------------------------- - -1.9.32 (2012-12-22) -------------------- - -1.9.31 (2012-12-18) -------------------- - -1.9.30 (2012-12-14) -------------------- - -1.9.29 (2012-12-05) -------------------- - -1.9.28 (2012-11-07) -------------------- - -1.9.27 (2012-11-06) -------------------- - -1.9.26 (2012-11-05) -------------------- - -1.9.25 (2012-10-29) -------------------- - -1.9.24 (2012-10-25) -------------------- - -1.9.23 (2012-10-14 15:26) -------------------------- - -1.9.22 (2012-10-14 13:13) -------------------------- - -1.9.21 (2012-10-14 12:25) -------------------------- - -1.9.20 (2012-10-14 02:13) -------------------------- - -1.9.19 (2012-10-13) -------------------- - -1.9.18 (2012-10-07) -------------------- - -1.9.17 (2012-10-06 21:27) -------------------------- - -1.9.16 (2012-10-06 21:22) -------------------------- - -1.9.15 (2012-10-06 20:47) -------------------------- - -1.9.14 (2012-10-06 19:20) -------------------------- - -1.9.13 (2012-09-16 16:51) -------------------------- - -1.9.12 (2012-09-16 02:25) -------------------------- - -1.9.11 (2012-09-15 13:45) -------------------------- - -1.9.10 (2012-09-15 12:27) -------------------------- - -1.9.9 (2012-09-12 14:38) ------------------------- - -1.9.8 (2012-09-12 14:27) ------------------------- - -1.9.7 (2012-09-11) ------------------- - -1.9.6 (2012-09-07) ------------------- - -1.9.5 (2012-09-06) ------------------- - -1.9.4 (2012-09-04) ------------------- - -1.9.3 (2012-09-03) ------------------- - -1.9.2 (2012-08-14 20:34) ------------------------- - -1.9.1 (2012-08-14 20:33) ------------------------- - -1.9.0 (2012-08-02) ------------------- diff --git a/kdl_parser_py/CMakeLists.txt b/kdl_parser_py/CMakeLists.txt deleted file mode 100644 index 5a79a29..0000000 --- a/kdl_parser_py/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) - -project(kdl_parser_py) - -find_package(catkin REQUIRED) - -catkin_package( - CATKIN_DEPENDS urdfdom_py -) - -catkin_python_setup() - -catkin_install_python(PROGRAMS ${PROJECT_NAME}/urdf.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -if(CATKIN_ENABLE_TESTING) - find_package(catkin REQUIRED COMPONENTS rostest) - add_rostest(test/test_kdl_parser.launch) -endif() diff --git a/kdl_parser_py/kdl_parser_py/__init__.py b/kdl_parser_py/kdl_parser_py/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/kdl_parser_py/kdl_parser_py/urdf.py b/kdl_parser_py/kdl_parser_py/urdf.py deleted file mode 100644 index 5ab8fd3..0000000 --- a/kdl_parser_py/kdl_parser_py/urdf.py +++ /dev/null @@ -1,128 +0,0 @@ -from __future__ import print_function - -import urdf_parser_py.urdf as urdf - -import PyKDL as kdl - -def treeFromFile(filename): - """ - Construct a PyKDL.Tree from an URDF file. - :param filename: URDF file path - """ - - with open(filename) as urdf_file: - return treeFromUrdfModel(urdf.URDF.from_xml_string(urdf_file.read())) - -def treeFromParam(param): - """ - Construct a PyKDL.Tree from an URDF in a ROS parameter. - :param param: Parameter name, ``str`` - """ - - return treeFromUrdfModel(urdf.URDF.from_parameter_server(param)) - -def treeFromString(xml): - """ - Construct a PyKDL.Tree from an URDF xml string. - :param xml: URDF xml string, ``str`` - """ - - return treeFromUrdfModel(urdf.URDF.from_xml_string(xml)) - -def _toKdlPose(pose): - # URDF might have RPY OR XYZ unspecified. Both default to zeros - rpy = pose.rpy if pose and pose.rpy and len(pose.rpy) == 3 else [0, 0, 0] - xyz = pose.xyz if pose and pose.xyz and len(pose.xyz) == 3 else [0, 0, 0] - - return kdl.Frame( - kdl.Rotation.RPY(*rpy), - kdl.Vector(*xyz)) - - -def _toKdlInertia(i): - # kdl specifies the inertia in the reference frame of the link, the urdf - # specifies the inertia in the inertia reference frame - origin = _toKdlPose(i.origin) - inertia = i.inertia - return origin.M * kdl.RigidBodyInertia( - i.mass, origin.p, - kdl.RotationalInertia(inertia.ixx, inertia.iyy, inertia.izz, inertia.ixy, inertia.ixz, inertia.iyz)); - -def _toKdlJoint(jnt): - - fixed = lambda j,F: kdl.Joint( - j.name, - getattr(kdl.Joint, 'Fixed') if hasattr(kdl.Joint, 'Fixed') else getattr(kdl.Joint, 'None')) - rotational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.RotAxis) - translational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.TransAxis) - - type_map = { - 'fixed': fixed, - 'revolute': rotational, - 'continuous': rotational, - 'prismatic': translational, - 'floating': fixed, - 'planar': fixed, - 'unknown': fixed, - } - - return type_map[jnt.type](jnt, _toKdlPose(jnt.origin)) - -def _add_children_to_tree(robot_model, root, tree): - - - # constructs the optional inertia - inert = kdl.RigidBodyInertia(0) - if root.inertial: - inert = _toKdlInertia(root.inertial) - - # constructs the kdl joint - (parent_joint_name, parent_link_name) = robot_model.parent_map[root.name] - parent_joint = robot_model.joint_map[parent_joint_name] - - # construct the kdl segment - sgm = kdl.Segment( - root.name, - _toKdlJoint(parent_joint), - _toKdlPose(parent_joint.origin), - inert) - - # add segment to tree - if not tree.addSegment(sgm, parent_link_name): - return False - - if root.name not in robot_model.child_map: - return True - - children = [robot_model.link_map[l] for (j,l) in robot_model.child_map[root.name]] - - # recurslively add all children - for child in children: - if not _add_children_to_tree(robot_model, child, tree): - return False - - return True; - -def treeFromUrdfModel(robot_model, quiet=False): - """ - Construct a PyKDL.Tree from an URDF model from urdf_parser_python. - - :param robot_model: URDF xml string, ``str`` - :param quiet: If true suppress messages to stdout, ``bool`` - """ - - root = robot_model.link_map[robot_model.get_root()] - - if root.inertial and not quiet: - print("The root link %s has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF." % root.name); - - ok = True - tree = kdl.Tree(root.name) - - # add all children - for (joint,child) in robot_model.child_map[root.name]: - if not _add_children_to_tree(robot_model, robot_model.link_map[child], tree): - ok = False - break - - return (ok, tree) diff --git a/kdl_parser_py/package.xml b/kdl_parser_py/package.xml deleted file mode 100644 index 8782784..0000000 --- a/kdl_parser_py/package.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - kdl_parser_py - 1.14.2 - - The Kinematics and Dynamics Library (KDL) defines a tree structure - to represent the kinematic and dynamic parameters of a robot - mechanism. kdl_parser_py provides Python tools to construct a KDL - tree from an XML robot representation in URDF. - - - Jonathan Bohren - Jackie Kay - Chris Lalancette - Shane Loretz - - BSD - - http://ros.org/wiki/kdl_parser_py - https://github.com/ros/kdl_parser - https://github.com/ros/kdl_parser/issues - - catkin - python-setuptools - python3-setuptools - python-catkin-pkg - python3-catkin-pkg - - urdfdom_py - - urdfdom_py - python3-pykdl - - rostest - - diff --git a/kdl_parser_py/setup.py b/kdl_parser_py/setup.py deleted file mode 100644 index ccdca84..0000000 --- a/kdl_parser_py/setup.py +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - packages=['kdl_parser_py'] -) - -setup(**d) diff --git a/kdl_parser_py/test/test.urdf b/kdl_parser_py/test/test.urdf deleted file mode 100644 index 1a3bd06..0000000 --- a/kdl_parser_py/test/test.urdf +++ /dev/null @@ -1,237 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/kdl_parser_py/test/test_kdl_parser.launch b/kdl_parser_py/test/test_kdl_parser.launch deleted file mode 100644 index f6e41a0..0000000 --- a/kdl_parser_py/test/test_kdl_parser.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/kdl_parser_py/test/test_kdl_parser.py b/kdl_parser_py/test/test_kdl_parser.py deleted file mode 100755 index 516469c..0000000 --- a/kdl_parser_py/test/test_kdl_parser.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python - -import sys - -import kdl_parser_py.urdf -import unittest - -import rostest - -PKG = "kdl_parser_py" -NAME = "test_kdl_parser" - -class TestKdlParser(unittest.TestCase): - def runTest(self): - filename = None - if (len(sys.argv) > 1): - filename = sys.argv[1] - else: - self.fail("Expected filename!") - (ok, tree) = kdl_parser_py.urdf.treeFromFile(filename) - self.assertTrue(ok) - # KDL doesn't count fixed joints (since they aren't kinematic) - self.assertEqual(tree.getNrOfJoints(), 8) - # KDL doesn't count base link (since it's attached by fixed links - self.assertEqual(tree.getNrOfSegments(), 10) - chain = tree.getChain("base_link", "right_gripper") - self.assertEqual(chain.getNrOfSegments(), 2) - self.assertEqual(chain.getNrOfJoints(), 2) - self.assertEqual(chain.getSegment(0).getName(), "gripper_pole") - self.assertEqual(chain.getSegment(0).getJoint().getName(), "gripper_extension") - self.assertEqual(chain.getSegment(1).getName(), "right_gripper") - self.assertEqual(chain.getSegment(1).getJoint().getName(), "right_gripper_joint") - - inertia = chain.getSegment(1).getInertia() - self.assertAlmostEqual(inertia.getCOG().z(), 3.0) - -if __name__ == '__main__': - rostest.run(PKG, NAME, TestKdlParser, sys.argv)