delete deprecated package
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Ioan Sucan
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cmake_minimum_required(VERSION 2.8.3)
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project(urdf_parser)
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find_package(catkin REQUIRED COMPONENTS urdfdom)
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catkin_package(
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DEPENDS urdfdom
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)
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/**
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\mainpage
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\htmlinclude manifest.html
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urdf::Model is a class containing robot model data structure.
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Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_).
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The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).
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\li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
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@verbatim
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<joint name="J" type="revolute">
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<dynamics damping="1" friction="0"/>
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<limit lower="0.9" upper="2.1" effort="1000" velocity="1"/>
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<safety_controller soft_lower_limit="0.7" soft_upper_limit="2.1" k_position="1" k_velocity="1" />
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<calibration reference_position="0.7" />
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<mimic joint="J100" offset="0" multiplier="0.7" />
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<!-- origin: origin of the joint in the parent frame -->
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<!-- child link frame is the joint frame -->
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<!-- axis is in the joint frame -->
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<parent link="P"/>
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<child link="C"/>
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</joint>
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<link name="C">
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<inertial>
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<mass value="10"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material name="Green"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="1.01 1.01 1.01"/>
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</geometry>
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<contact_coefficient mu="0" resitution="0" k_p="0" k_d="0" />
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</collision>
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</link>
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<material name="Green">
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<texture filename="...texture file..." />
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<!--color rgb="255 255 255" /-->
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</material>
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@endverbatim
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\section codeapi Code API
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The URDF parser API contains the following methods:
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\li Parse and build tree from XML: urdf::Model::initXml
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\li Parse and build tree from File: urdf::Model::initFile
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\li Parse and build tree from String: urdf::Model::initString
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\li Get Root Link: urdf::Model::getRoot
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\li Get Link by name urdf::Model::getLink
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\li Get all Link's urdf::Model::getLinks
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\li Get Joint by name urdf::Model::getJoint
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<!--
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\section rosapi ROS API
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Names are very important in ROS because they can be remapped on the
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command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
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APPEAR IN THE CODE. You should list names of every topic, service and
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parameter used in your code. There is a template below that you can
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use to document each node separately.
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List of nodes:
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- \b node_name1
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- \b node_name2
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-->
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<!-- START: copy from here to 'END' for each node
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<hr>
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\subsection node_name node_name
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node_name does (provide a basic description of your node)
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\subsubsection Usage
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\verbatim
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$ node_type1 [standard ROS args]
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\endverbatim
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\par Example
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\verbatim
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$ node_type1
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\endverbatim
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\subsubsection topics ROS topics
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Subscribes to:
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- \b "in": [std_msgs/FooType] description of in
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Publishes to:
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- \b "out": [std_msgs/FooType] description of out
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\subsubsection parameters ROS parameters
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Reads the following parameters from the parameter server
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- \b "~param_name" : \b [type] description of param_name
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- \b "~my_param" : \b [string] description of my_param
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Sets the following parameters on the parameter server
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- \b "~param_name" : \b [type] description of param_name
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\subsubsection services ROS services
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- \b "foo_service": [std_srvs/FooType] description of foo_service
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END: copy for each node -->
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<!-- START: Uncomment if you have any command-line tools
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\section commandline Command-line tools
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This section is a catch-all for any additional tools that your package
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provides or uses that may be of use to the reader. For example:
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- tools/scripts (e.g. rospack, roscd)
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- roslaunch .launch files
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- xmlparam files
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\subsection script_name script_name
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Description of what this script/file does.
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\subsubsection Usage
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\verbatim
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$ ./script_name [args]
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\endverbatim
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\par Example
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\verbatim
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$ ./script_name foo bar
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\endverbatim
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END: Command-Line Tools Section -->
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*/
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@ -1,32 +0,0 @@
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<package>
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<name>urdf_parser</name>
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<version>1.10.9</version>
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<description>
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This package is DEPRECATED. Please use the urdfdom dependency directly instead of this package.
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This package contains a C++ parser for the Unified Robot
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Description Format (URDF), which is an XML format for representing
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a robot model. The parser reads a URDF XML robot description, and
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creates a C++ URDF model. Although it is possible to directly use
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this parser when working with URDF robot descriptions, the
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preferred user API is found in the urdf package.
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</description>
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<author>Wim Meeussen</author>
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<author>John Hsu</author>
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<author>Rosen Diankov</author>
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<maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
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<license>BSD</license>
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<url type="website">http://ros.org/wiki/urdf_parser</url>
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<url type="repository">https://github.com/ros/robot_model</url>
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<url type="bugtracker">https://github.com/ros/robot_model/issues</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>urdfdom</build_depend>
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<run_depend>urdfdom</run_depend>
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</package>
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