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kdl_parser
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split off urdf parser into new package urdf_parser

This commit is contained in:
Wim Meeussen 2011-03-01 20:28:59 -08:00
parent 5a922ec667
commit 906f511048
20 changed files with 736 additions and 395 deletions
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12
urdf/CMakeLists.txt
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@ -28,21 +28,11 @@ if( HAVE_MKSTEMPS )
endif() endif()
#common commands for building c++ executables and libraries #common commands for building c++ executables and libraries
rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) rosbuild_add_library(${PROJECT_NAME} src/model.cpp src/collada_model_reader.cpp)
#target_link_libraries(${PROJECT_NAME} another_library) #target_link_libraries(${PROJECT_NAME} another_library)
rosbuild_add_boost_directories() rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread) #rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(check_urdf src/check_urdf.cpp)
target_link_libraries(check_urdf ${PROJECT_NAME})
rosbuild_add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
target_link_libraries(urdf_to_graphiz ${PROJECT_NAME})
rosbuild_add_executable(mem_test test/memtest.cpp)
target_link_libraries(mem_test ${PROJECT_NAME})
rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp) rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
rosbuild_add_gtest_build_flags(test_parser) rosbuild_add_gtest_build_flags(test_parser)
target_link_libraries(test_parser ${PROJECT_NAME}) target_link_libraries(test_parser ${PROJECT_NAME})

61
urdf/include/urdf/model.h
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@ -34,23 +34,19 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#ifndef ROBOT_MODEL_PARSER_H #ifndef ROBOT_MODEL_URDF_H
#define ROBOT_MODEL_PARSER_H #define ROBOT_MODEL_URDF_H
#include <string> #include <string>
#include <map> #include <map>
#include <tinyxml/tinyxml.h> #include <urdf_parser/parser.h>
#include <boost/function.hpp>
#include "link.h"
namespace urdf{ namespace urdf{
class Model class Model: public urdf::Parser
{ {
public: public:
Model();
/// \brief Load Model from TiXMLElement /// \brief Load Model from TiXMLElement
bool initXml(TiXmlElement *xml); bool initXml(TiXmlElement *xml);
/// \brief Load Model from TiXMLDocument /// \brief Load Model from TiXMLDocument
@ -62,55 +58,6 @@ public:
/// \brief Load Model from a XML-string /// \brief Load Model from a XML-string
bool initString(const std::string& xmlstring); bool initString(const std::string& xmlstring);
boost::shared_ptr<const Link> getRoot(void) const{return this->root_link_;};
boost::shared_ptr<const Link> getLink(const std::string& name) const;
boost::shared_ptr<const Joint> getJoint(const std::string& name) const;
const std::string& getName() const {return name_;};
void getLinks(std::vector<boost::shared_ptr<Link> >& links) const;
/// \brief get parent Link of a Link given name
boost::shared_ptr<const Link> getParentLink(const std::string& name) const;
/// \brief get parent Joint of a Link given name
boost::shared_ptr<const Joint> getParentJoint(const std::string& name) const;
/// \brief get child Link of a Link given name
boost::shared_ptr<const Link> getChildLink(const std::string& name) const;
/// \brief get child Joint of a Link given name
boost::shared_ptr<const Joint> getChildJoint(const std::string& name) const;
/// \brief complete list of Links
std::map<std::string, boost::shared_ptr<Link> > links_;
/// \brief complete list of Joints
std::map<std::string, boost::shared_ptr<Joint> > joints_;
/// \brief complete list of Materials
std::map<std::string, boost::shared_ptr<Material> > materials_;
protected:
void clear();
std::string name_;
/// non-const getLink()
void getLink(const std::string& name,boost::shared_ptr<Link> &link) const;
/// non-const getMaterial()
boost::shared_ptr<Material> getMaterial(const std::string& name) const;
/// in initXml(), onece all links are loaded,
/// it's time to build a tree
bool initTree(std::map<std::string, std::string> &parent_link_tree);
/// in initXml(), onece tree is built,
/// it's time to find the root Link
bool initRoot(std::map<std::string, std::string> &parent_link_tree);
private:
/// Model is restricted to a tree for now, which means there exists one root link
/// typically, root link is the world(inertial). Where world is a special link
/// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint?
/// hmm...
boost::shared_ptr<Link> root_link_;
friend class ColladaModelReader; friend class ColladaModelReader;
}; };

1
urdf/manifest.xml
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@ -13,6 +13,7 @@
<depend package="tinyxml" /> <depend package="tinyxml" />
<depend package="roscpp" /> <depend package="roscpp" />
<depend package="colladadom" /> <depend package="colladadom" />
<depend package="urdf_parser" />
<export> <export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lurdf"/> <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lurdf"/>

314
urdf/src/model.cpp
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@ -47,20 +47,6 @@ bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model);
bool IsColladaFile(const std::string& filename); bool IsColladaFile(const std::string& filename);
bool IsColladaData(const std::string& data); bool IsColladaData(const std::string& data);
Model::Model()
{
this->clear();
}
void Model::clear()
{
name_.clear();
this->links_.clear();
this->joints_.clear();
this->materials_.clear();
this->root_link_.reset();
}
bool Model::initFile(const std::string& filename) bool Model::initFile(const std::string& filename)
{ {
@ -71,7 +57,7 @@ bool Model::initFile(const std::string& filename)
TiXmlDocument xml_doc; TiXmlDocument xml_doc;
xml_doc.LoadFile(filename); xml_doc.LoadFile(filename);
return initXml(&xml_doc); return init(&xml_doc);
} }
@ -106,7 +92,7 @@ bool Model::initString(const std::string& xml_string)
TiXmlDocument xml_doc; TiXmlDocument xml_doc;
xml_doc.Parse(xml_string.c_str()); xml_doc.Parse(xml_string.c_str());
return initXml(&xml_doc); return init(&xml_doc);
} }
@ -125,19 +111,11 @@ bool Model::initXml(TiXmlDocument *xml_doc)
} }
} }
TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot"); return init(xml_doc);
if (!robot_xml)
{
ROS_ERROR("Could not find the 'robot' element in the xml file");
return false;
}
return initXml(robot_xml);
} }
bool Model::initXml(TiXmlElement *robot_xml) bool Model::initXml(TiXmlElement *robot_xml)
{ {
this->clear();
ROS_DEBUG("Parsing robot xml"); ROS_DEBUG("Parsing robot xml");
if (!robot_xml) return false; if (!robot_xml) return false;
@ -146,289 +124,7 @@ bool Model::initXml(TiXmlElement *robot_xml)
return urdfFromTiXML(robot_xml,*this); return urdfFromTiXML(robot_xml,*this);
} }
// Get robot name return init(robot_xml);
const char *name = robot_xml->Attribute("name");
if (!name)
{
ROS_ERROR("No name given for the robot.");
return false;
}
this->name_ = std::string(name);
// Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{
boost::shared_ptr<Material> material;
material.reset(new Material);
if (material->initXml(material_xml))
{
if (this->getMaterial(material->name))
{
ROS_ERROR("material '%s' is not unique.", material->name.c_str());
material.reset();
return false;
}
else
{
this->materials_.insert(make_pair(material->name,material));
ROS_DEBUG("successfully added a new material '%s'", material->name.c_str());
}
}
else
{
ROS_ERROR("material xml is not initialized correctly");
material.reset();
return false;
}
}
// Get all Link elements
for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{
boost::shared_ptr<Link> link;
link.reset(new Link);
if (link->initXml(link_xml))
{
if (this->getLink(link->name))
{
ROS_ERROR("link '%s' is not unique.", link->name.c_str());
link.reset();
return false;
}
else
{
// set link visual material
ROS_DEBUG("setting link '%s' material", link->name.c_str());
if (link->visual)
{
if (!link->visual->material_name.empty())
{
if (this->getMaterial(link->visual->material_name))
{
ROS_DEBUG("setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
link->visual->material = this->getMaterial( link->visual->material_name.c_str() );
}
else
{
if (link->visual->material)
{
ROS_DEBUG("link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
this->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
}
else
{
ROS_ERROR("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
link.reset();
return false;
}
}
}
}
this->links_.insert(make_pair(link->name,link));
ROS_DEBUG("successfully added a new link '%s'", link->name.c_str());
}
}
else
{
ROS_ERROR("link xml is not initialized correctly");
link.reset();
return false;
}
}
if (this->links_.empty()){
ROS_ERROR("No link elements found in urdf file");
return false;
}
// Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{
boost::shared_ptr<Joint> joint;
joint.reset(new Joint);
if (joint->initXml(joint_xml))
{
if (this->getJoint(joint->name))
{
ROS_ERROR("joint '%s' is not unique.", joint->name.c_str());
joint.reset();
return false;
}
else
{
this->joints_.insert(make_pair(joint->name,joint));
ROS_DEBUG("successfully added a new joint '%s'", joint->name.c_str());
}
}
else
{
ROS_ERROR("joint xml is not initialized correctly");
joint.reset();
return false;
}
}
// every link has children links and joints, but no parents, so we create a
// local convenience data structure for keeping child->parent relations
std::map<std::string, std::string> parent_link_tree;
parent_link_tree.clear();
// building tree: name mapping
if (!this->initTree(parent_link_tree))
{
ROS_ERROR("failed to build tree");
return false;
}
// find the root link
if (!this->initRoot(parent_link_tree))
{
ROS_ERROR("failed to find root link");
return false;
}
return true;
}
bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
{
// loop through all joints, for every link, assign children links and children joints
for (std::map<std::string,boost::shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
{
std::string parent_link_name = joint->second->parent_link_name;
std::string child_link_name = joint->second->child_link_name;
ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str());
if (parent_link_name.empty() || child_link_name.empty())
{
ROS_ERROR(" Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str());
return false;
}
else
{
// find child and parent links
boost::shared_ptr<Link> child_link, parent_link;
this->getLink(child_link_name, child_link);
if (!child_link)
{
ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() );
return false;
}
this->getLink(parent_link_name, parent_link);
if (!parent_link)
{
ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"<link name=\"%s\" />\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() );
return false;
}
//set parent link for child link
child_link->setParent(parent_link);
//set parent joint for child link
child_link->setParentJoint(joint->second);
//set child joint for parent link
parent_link->addChildJoint(joint->second);
//set child link for parent link
parent_link->addChild(child_link);
// fill in child/parent string map
parent_link_tree[child_link->name] = parent_link_name;
ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size());
}
}
return true;
}
bool Model::initRoot(std::map<std::string, std::string> &parent_link_tree)
{
this->root_link_.reset();
// find the links that have no parent in the tree
for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)
{
std::map<std::string, std::string >::iterator parent = parent_link_tree.find(l->first);
if (parent == parent_link_tree.end())
{
// store root link
if (!this->root_link_)
{
getLink(l->first, this->root_link_);
}
// we already found a root link
else{
ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str());
return false;
}
}
}
if (!this->root_link_)
{
ROS_ERROR("No root link found. The robot xml is not a valid tree.");
return false;
}
ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());
return true;
}
boost::shared_ptr<Material> Model::getMaterial(const std::string& name) const
{
boost::shared_ptr<Material> ptr;
if (this->materials_.find(name) == this->materials_.end())
ptr.reset();
else
ptr = this->materials_.find(name)->second;
return ptr;
}
boost::shared_ptr<const Link> Model::getLink(const std::string& name) const
{
boost::shared_ptr<const Link> ptr;
if (this->links_.find(name) == this->links_.end())
ptr.reset();
else
ptr = this->links_.find(name)->second;
return ptr;
}
void Model::getLinks(std::vector<boost::shared_ptr<Link> >& links) const
{
for (std::map<std::string,boost::shared_ptr<Link> >::const_iterator link = this->links_.begin();link != this->links_.end(); link++)
{
links.push_back(link->second);
}
}
void Model::getLink(const std::string& name,boost::shared_ptr<Link> &link) const
{
boost::shared_ptr<Link> ptr;
if (this->links_.find(name) == this->links_.end())
ptr.reset();
else
ptr = this->links_.find(name)->second;
link = ptr;
}
boost::shared_ptr<const Joint> Model::getJoint(const std::string& name) const
{
boost::shared_ptr<const Joint> ptr;
if (this->joints_.find(name) == this->joints_.end())
ptr.reset();
else
ptr = this->joints_.find(name)->second;
return ptr;
}
} }
}// namespace

10
urdf/test/memtest.cpp
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@ -1,10 +0,0 @@
#include <urdf/model.h>
#include <ros/ros.h>
int main(int argc, char** argv){
ros::init(argc, argv, "memtest");
while (ros::ok()){
urdf::Model urdf;
urdf.initFile(std::string(argv[1]));
}
}

38
urdf_parser/CMakeLists.txt Normal file
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@ -0,0 +1,38 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE Debug)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
#rosbuild_genmsg()
rosbuild_gensrv()
#common commands for building c++ executables and libraries
rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/parser.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(check_urdf src/check_urdf.cpp)
target_link_libraries(check_urdf ${PROJECT_NAME})
rosbuild_add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
target_link_libraries(urdf_to_graphiz ${PROJECT_NAME})
rosbuild_add_executable(mem_test test/memtest.cpp)
target_link_libraries(mem_test ${PROJECT_NAME})

1
urdf_parser/Makefile Normal file
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@ -0,0 +1 @@
include $(shell rospack find mk)/cmake.mk

0
urdf/include/urdf/color.h → urdf_parser/include/urdf_parser/color.h
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0
urdf/include/urdf/joint.h → urdf_parser/include/urdf_parser/joint.h
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0
urdf/include/urdf/link.h → urdf_parser/include/urdf_parser/link.h
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110
urdf_parser/include/urdf_parser/parser.h Normal file
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@ -0,0 +1,110 @@
/*********************************************************************
* 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_PARSER_H
#define URDF_PARSER_H
#include <string>
#include <map>
#include <tinyxml/tinyxml.h>
#include <boost/function.hpp>
#include "urdf_parser/link.h"
namespace urdf{
class Parser
{
public:
Parser();
/// \brief Load Model from TiXMLElement
bool init(TiXmlElement *xml);
/// \brief Load Model from TiXMLDocument
bool init(TiXmlDocument *xml);
boost::shared_ptr<const Link> getRoot(void) const{return this->root_link_;};
boost::shared_ptr<const Link> getLink(const std::string& name) const;
boost::shared_ptr<const Joint> getJoint(const std::string& name) const;
const std::string& getName() const {return name_;};
void getLinks(std::vector<boost::shared_ptr<Link> >& links) const;
/// \brief get parent Link of a Link given name
boost::shared_ptr<const Link> getParentLink(const std::string& name) const;
/// \brief get parent Joint of a Link given name
boost::shared_ptr<const Joint> getParentJoint(const std::string& name) const;
/// \brief get child Link of a Link given name
boost::shared_ptr<const Link> getChildLink(const std::string& name) const;
/// \brief get child Joint of a Link given name
boost::shared_ptr<const Joint> getChildJoint(const std::string& name) const;
/// \brief complete list of Links
std::map<std::string, boost::shared_ptr<Link> > links_;
/// \brief complete list of Joints
std::map<std::string, boost::shared_ptr<Joint> > joints_;
/// \brief complete list of Materials
std::map<std::string, boost::shared_ptr<Material> > materials_;
protected:
void clear();
std::string name_;
/// non-const getLink()
void getLink(const std::string& name,boost::shared_ptr<Link> &link) const;
/// non-const getMaterial()
boost::shared_ptr<Material> getMaterial(const std::string& name) const;
/// in initXml(), onece all links are loaded,
/// it's time to build a tree
bool initTree(std::map<std::string, std::string> &parent_link_tree);
/// in initXml(), onece tree is built,
/// it's time to find the root Link
bool initRoot(std::map<std::string, std::string> &parent_link_tree);
/// Model is restricted to a tree for now, which means there exists one root link
/// typically, root link is the world(inertial). Where world is a special link
/// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint?
/// hmm...
boost::shared_ptr<Link> root_link_;
};
}
#endif

0
urdf/include/urdf/pose.h → urdf_parser/include/urdf_parser/pose.h
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159
urdf_parser/mainpage.dox Normal file
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@ -0,0 +1,159 @@
/**
\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
<joint name="J" type="revolute">
<dynamics damping="1" friction="0"/>
<limit lower="0.9" upper="2.1" effort="1000" velocity="1"/>
<safety_controller soft_lower_limit="0.7" soft_upper_limit="2.1" k_position="1" k_velocity="1" />
<calibration reference_position="0.7" />
<mimic joint="J100" offset="0" multiplier="0.7" />
<!-- origin: origin of the joint in the parent frame -->
<!-- child link frame is the joint frame -->
<!-- axis is in the joint frame -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="P"/>
<child link="C"/>
</joint>
<link name="C">
<inertial>
<mass value="10"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.01 1.01 1.01"/>
</geometry>
<contact_coefficient mu="0" resitution="0" k_p="0" k_d="0" />
</collision>
</link>
<material name="Green">
<texture filename="...texture file..." />
<!--color rgb="255 255 255" /-->
</material>
@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
<!--
\section rosapi ROS API
Names are very important in ROS because they can be remapped on the
command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
APPEAR IN THE CODE. You should list names of every topic, service and
parameter used in your code. There is a template below that you can
use to document each node separately.
List of nodes:
- \b node_name1
- \b node_name2
-->
<!-- START: copy from here to 'END' for each node
<hr>
\subsection node_name node_name
node_name does (provide a basic description of your node)
\subsubsection Usage
\verbatim
$ node_type1 [standard ROS args]
\endverbatim
\par Example
\verbatim
$ node_type1
\endverbatim
\subsubsection topics ROS topics
Subscribes to:
- \b "in": [std_msgs/FooType] description of in
Publishes to:
- \b "out": [std_msgs/FooType] description of out
\subsubsection parameters ROS parameters
Reads the following parameters from the parameter server
- \b "~param_name" : \b [type] description of param_name
- \b "~my_param" : \b [string] description of my_param
Sets the following parameters on the parameter server
- \b "~param_name" : \b [type] description of param_name
\subsubsection services ROS services
- \b "foo_service": [std_srvs/FooType] description of foo_service
END: copy for each node -->
<!-- START: Uncomment if you have any command-line tools
\section commandline Command-line tools
This section is a catch-all for any additional tools that your package
provides or uses that may be of use to the reader. For example:
- tools/scripts (e.g. rospack, roscd)
- roslaunch .launch files
- xmlparam files
\subsection script_name script_name
Description of what this script/file does.
\subsubsection Usage
\verbatim
$ ./script_name [args]
\endverbatim
\par Example
\verbatim
$ ./script_name foo bar
\endverbatim
END: Command-Line Tools Section -->
*/

25
urdf_parser/manifest.xml Normal file
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@ -0,0 +1,25 @@
<package>
<description brief="URDF Xml robot description parser.">
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.
</description>
<author>Wim Meeussen, John Hsu, Rosen Diankov</author>
<license>BSD</license>
<review status="Doc reviewed" notes=""/>
<url>http://ros.org/wiki/urdf_parser</url>
<depend package="tinyxml" />
<depend package="roscpp" /> <!-- Only to call ROS_ERROR -->
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lurdf_parser"/>
</export>
<platform os="ubuntu" version="9.04"/>
<platform os="ubuntu" version="9.10"/>
<platform os="ubuntu" version="10.04"/>
</package>

6
urdf/src/check_urdf.cpp → urdf_parser/src/check_urdf.cpp
View File

@ -34,7 +34,7 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#include "urdf/model.h" #include "urdf_parser/parser.h"
#include <iostream> #include <iostream>
using namespace urdf; using namespace urdf;
@ -76,8 +76,8 @@ int main(int argc, char** argv)
return -1; return -1;
} }
Model robot; Parser robot;
if (!robot.initXml(robot_xml)){ if (!robot.init(robot_xml)){
std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
return -1; return -1;
} }

2
urdf/src/joint.cpp → urdf_parser/src/joint.cpp
View File

@ -34,7 +34,7 @@
/* Author: John Hsu */ /* Author: John Hsu */
#include <urdf/joint.h> #include <urdf_parser/joint.h>
#include <ros/ros.h> #include <ros/ros.h>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>

2
urdf/src/link.cpp → urdf_parser/src/link.cpp
View File

@ -35,7 +35,7 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#include "urdf/link.h" #include "urdf_parser/link.h"
#include <ros/ros.h> #include <ros/ros.h>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>

371
urdf_parser/src/parser.cpp Normal file
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@ -0,0 +1,371 @@
/*********************************************************************
* 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 <boost/algorithm/string.hpp>
#include <ros/ros.h>
#include <vector>
#include "urdf_parser/parser.h"
namespace urdf{
Parser::Parser()
{
this->clear();
}
void Parser::clear()
{
name_.clear();
this->links_.clear();
this->joints_.clear();
this->materials_.clear();
this->root_link_.reset();
}
bool Parser::init(TiXmlDocument *xml_doc)
{
if (!xml_doc)
{
ROS_ERROR("Could not parse the xml");
return false;
}
TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot");
if (!robot_xml)
{
ROS_ERROR("Could not find the 'robot' element in the xml file");
return false;
}
return init(robot_xml);
}
bool Parser::init(TiXmlElement *robot_xml)
{
this->clear();
ROS_DEBUG("Parsing robot xml");
if (!robot_xml) return false;
// Get robot name
const char *name = robot_xml->Attribute("name");
if (!name)
{
ROS_ERROR("No name given for the robot.");
return false;
}
this->name_ = std::string(name);
// Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{
boost::shared_ptr<Material> material;
material.reset(new Material);
if (material->initXml(material_xml))
{
if (this->getMaterial(material->name))
{
ROS_ERROR("material '%s' is not unique.", material->name.c_str());
material.reset();
return false;
}
else
{
this->materials_.insert(make_pair(material->name,material));
ROS_DEBUG("successfully added a new material '%s'", material->name.c_str());
}
}
else
{
ROS_ERROR("material xml is not initialized correctly");
material.reset();
return false;
}
}
// Get all Link elements
for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{
boost::shared_ptr<Link> link;
link.reset(new Link);
if (link->initXml(link_xml))
{
if (this->getLink(link->name))
{
ROS_ERROR("link '%s' is not unique.", link->name.c_str());
link.reset();
return false;
}
else
{
// set link visual material
ROS_DEBUG("setting link '%s' material", link->name.c_str());
if (link->visual)
{
if (!link->visual->material_name.empty())
{
if (this->getMaterial(link->visual->material_name))
{
ROS_DEBUG("setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
link->visual->material = this->getMaterial( link->visual->material_name.c_str() );
}
else
{
if (link->visual->material)
{
ROS_DEBUG("link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
this->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
}
else
{
ROS_ERROR("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
link.reset();
return false;
}
}
}
}
this->links_.insert(make_pair(link->name,link));
ROS_DEBUG("successfully added a new link '%s'", link->name.c_str());
}
}
else
{
ROS_ERROR("link xml is not initialized correctly");
link.reset();
return false;
}
}
if (this->links_.empty()){
ROS_ERROR("No link elements found in urdf file");
return false;
}
// Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{
boost::shared_ptr<Joint> joint;
joint.reset(new Joint);
if (joint->initXml(joint_xml))
{
if (this->getJoint(joint->name))
{
ROS_ERROR("joint '%s' is not unique.", joint->name.c_str());
joint.reset();
return false;
}
else
{
this->joints_.insert(make_pair(joint->name,joint));
ROS_DEBUG("successfully added a new joint '%s'", joint->name.c_str());
}
}
else
{
ROS_ERROR("joint xml is not initialized correctly");
joint.reset();
return false;
}
}
// every link has children links and joints, but no parents, so we create a
// local convenience data structure for keeping child->parent relations
std::map<std::string, std::string> parent_link_tree;
parent_link_tree.clear();
// building tree: name mapping
if (!this->initTree(parent_link_tree))
{
ROS_ERROR("failed to build tree");
return false;
}
// find the root link
if (!this->initRoot(parent_link_tree))
{
ROS_ERROR("failed to find root link");
return false;
}
return true;
}
bool Parser::initTree(std::map<std::string, std::string> &parent_link_tree)
{
// loop through all joints, for every link, assign children links and children joints
for (std::map<std::string,boost::shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
{
std::string parent_link_name = joint->second->parent_link_name;
std::string child_link_name = joint->second->child_link_name;
ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str());
if (parent_link_name.empty() || child_link_name.empty())
{
ROS_ERROR(" Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str());
return false;
}
else
{
// find child and parent links
boost::shared_ptr<Link> child_link, parent_link;
this->getLink(child_link_name, child_link);
if (!child_link)
{
ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() );
return false;
}
this->getLink(parent_link_name, parent_link);
if (!parent_link)
{
ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"<link name=\"%s\" />\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() );
return false;
}
//set parent link for child link
child_link->setParent(parent_link);
//set parent joint for child link
child_link->setParentJoint(joint->second);
//set child joint for parent link
parent_link->addChildJoint(joint->second);
//set child link for parent link
parent_link->addChild(child_link);
// fill in child/parent string map
parent_link_tree[child_link->name] = parent_link_name;
ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size());
}
}
return true;
}
bool Parser::initRoot(std::map<std::string, std::string> &parent_link_tree)
{
this->root_link_.reset();
// find the links that have no parent in the tree
for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)
{
std::map<std::string, std::string >::iterator parent = parent_link_tree.find(l->first);
if (parent == parent_link_tree.end())
{
// store root link
if (!this->root_link_)
{
getLink(l->first, this->root_link_);
}
// we already found a root link
else{
ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str());
return false;
}
}
}
if (!this->root_link_)
{
ROS_ERROR("No root link found. The robot xml is not a valid tree.");
return false;
}
ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());
return true;
}
boost::shared_ptr<Material> Parser::getMaterial(const std::string& name) const
{
boost::shared_ptr<Material> ptr;
if (this->materials_.find(name) == this->materials_.end())
ptr.reset();
else
ptr = this->materials_.find(name)->second;
return ptr;
}
boost::shared_ptr<const Link> Parser::getLink(const std::string& name) const
{
boost::shared_ptr<const Link> ptr;
if (this->links_.find(name) == this->links_.end())
ptr.reset();
else
ptr = this->links_.find(name)->second;
return ptr;
}
void Parser::getLinks(std::vector<boost::shared_ptr<Link> >& links) const
{
for (std::map<std::string,boost::shared_ptr<Link> >::const_iterator link = this->links_.begin();link != this->links_.end(); link++)
{
links.push_back(link->second);
}
}
void Parser::getLink(const std::string& name,boost::shared_ptr<Link> &link) const
{
boost::shared_ptr<Link> ptr;
if (this->links_.find(name) == this->links_.end())
ptr.reset();
else
ptr = this->links_.find(name)->second;
link = ptr;
}
boost::shared_ptr<const Joint> Parser::getJoint(const std::string& name) const
{
boost::shared_ptr<const Joint> ptr;
if (this->joints_.find(name) == this->joints_.end())
ptr.reset();
else
ptr = this->joints_.find(name)->second;
return ptr;
}
}

6
urdf/src/urdf_to_graphiz.cpp → urdf_parser/src/urdf_to_graphiz.cpp
View File

@ -34,7 +34,7 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#include "urdf/model.h" #include "urdf_parser/parser.h"
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
@ -98,8 +98,8 @@ int main(int argc, char** argv)
return -1; return -1;
} }
Model robot; Parser robot;
if (!robot.initXml(robot_xml)){ if (!robot.init(robot_xml)){
std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
return -1; return -1;
} }

13
urdf_parser/test/memtest.cpp Normal file
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@ -0,0 +1,13 @@
#include <urdf_parser/parser.h>
#include <ros/ros.h>
int main(int argc, char** argv){
ros::init(argc, argv, "memtest");
while (ros::ok()){
urdf::Parser urdf;
TiXmlDocument xml_doc;
xml_doc.LoadFile(std::string(argv[1]));
urdf.init(&xml_doc);
}
}