making things work with the urdfdom 0.2.0
This commit is contained in:
Ioan Sucan
parent
b9cb1ea6d5
commit
a2d667f269
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@ -33,7 +33,7 @@ if( HAVE_MKSTEMPS )
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endif()
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#common commands for building c++ executables and libraries
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rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp src/hack.cpp)
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rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp)
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rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}")
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rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}")
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@ -500,13 +500,23 @@ protected:
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{
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std::map<std::string, std::string> parent_link_tree;
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// building tree: name mapping
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if (!_model->initTree(parent_link_tree)) {
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ROS_ERROR("failed to build tree");
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try
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{
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_model->initTree(parent_link_tree);
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}
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catch(ParseError &e)
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{
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ROS_ERROR("Failed to build tree: %s", e.what());
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}
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// find the root link
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if (!_model->initRoot(parent_link_tree)) {
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ROS_ERROR("failed to find root link");
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try
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{
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_model->initRoot(parent_link_tree);
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}
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catch(ParseError &e)
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{
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ROS_ERROR("Failed to find root link: %s", e.what());
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}
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}
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@ -1,134 +0,0 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: John Hsu */
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#include <urdf_model/model.h>
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#include <fstream>
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#include <sstream>
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#include <boost/lexical_cast.hpp>
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#include <algorithm>
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#include <ros/console.h>
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namespace urdf{
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bool ModelInterface::initTree(std::map<std::string, std::string> &parent_link_tree)
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{
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// loop through all joints, for every link, assign children links and children joints
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for (std::map<std::string,boost::shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
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{
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std::string parent_link_name = joint->second->parent_link_name;
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std::string child_link_name = joint->second->child_link_name;
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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());
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if (parent_link_name.empty() || child_link_name.empty())
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{
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ROS_ERROR(" Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str());
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return false;
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}
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else
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{
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// find child and parent links
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boost::shared_ptr<Link> child_link, parent_link;
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this->getLink(child_link_name, child_link);
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if (!child_link)
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{
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ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() );
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return false;
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}
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this->getLink(parent_link_name, parent_link);
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if (!parent_link)
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{
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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() );
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return false;
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}
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//set parent link for child link
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child_link->setParent(parent_link);
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//set parent joint for child link
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child_link->setParentJoint(joint->second);
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//set child joint for parent link
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parent_link->addChildJoint(joint->second);
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//set child link for parent link
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parent_link->addChild(child_link);
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// fill in child/parent string map
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parent_link_tree[child_link->name] = parent_link_name;
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ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size());
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}
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}
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return true;
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};
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bool ModelInterface::initRoot(std::map<std::string, std::string> &parent_link_tree)
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{
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this->root_link_.reset();
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// find the links that have no parent in the tree
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for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)
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{
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std::map<std::string, std::string >::iterator parent = parent_link_tree.find(l->first);
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if (parent == parent_link_tree.end())
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{
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// store root link
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if (!this->root_link_)
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{
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getLink(l->first, this->root_link_);
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}
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// we already found a root link
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else{
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ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str());
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return false;
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}
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}
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}
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if (!this->root_link_)
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{
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ROS_ERROR("No root link found. The robot xml is not a valid tree.");
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return false;
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}
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ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());
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return true;
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};
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}
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@ -21,7 +21,13 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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rosbuild_gensrv()
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(urdfdom REQUIRED urdfdom)
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include_directories(${urdfdom_INCLUDE_DIRS})
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link_directories(${urdfdom_LIBRARY_DIRS})
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rosbuild_add_library(${PROJECT_NAME} src/model.cpp)
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target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES})
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if(APPLE)
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
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