making things work with the urdfdom 0.2.0

collada_parser/CMakeLists.txt

@@ -33,7 +33,7 @@ if( HAVE_MKSTEMPS )
 endif()
 
 #common commands for building c++ executables and libraries
-rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp src/hack.cpp)
+rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp)
 
 rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}")
 rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}")

collada_parser/src/collada_parser.cpp

@@ -500,13 +500,23 @@ protected:
     {
         std::map<std::string, std::string> parent_link_tree;
         // building tree: name mapping
-        if (!_model->initTree(parent_link_tree)) {
+        try
-            ROS_ERROR("failed to build tree");
+        {
+          _model->initTree(parent_link_tree);
+        }
+        catch(ParseError &e)
+        {
+          ROS_ERROR("Failed to build tree: %s", e.what());
         }
 
         // find the root link
-        if (!_model->initRoot(parent_link_tree)) {
+        try
-            ROS_ERROR("failed to find root link");
+        {
+          _model->initRoot(parent_link_tree);
+        }
+        catch(ParseError &e)
+        {
+          ROS_ERROR("Failed to find root link: %s", e.what());
         }
     }
 

collada_parser/src/hack.cpp

@@ -1,134 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-
-#include <urdf_model/model.h>
-#include <fstream>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <algorithm>
-#include <ros/console.h>
-
-namespace urdf{
-
-bool ModelInterface::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 ModelInterface::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;
-};
-
-}
-
-

urdf/CMakeLists.txt

@@ -21,7 +21,13 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 rosbuild_gensrv()
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(urdfdom REQUIRED urdfdom)
+include_directories(${urdfdom_INCLUDE_DIRS})
+link_directories(${urdfdom_LIBRARY_DIRS})
+
 rosbuild_add_library(${PROJECT_NAME} src/model.cpp)
+target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES})
 
 if(APPLE) 
   set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")