def mean_stddev_bias(self,name):
parent = element(name)
sub(parent,'mean').text='0'
sub(parent,'stddev').text='0.0002'
sub(parent,'bias_mean').text='7.5e-06'
sub(parent,'bias_stddev').text='8e-07'
return parent
def inertial(self,mass,inertia):
#<inertial>
##<mass value="mass">
##<inertia/>
#</inertial>
inertial = element('inertial')
sub(inertial,'mass',value=str(mass))
inertial.append(inertia)
return inertial
def sensor_imu(self,bodyname):
self.robot.append(self.gazebo_ros_imu(bodyname))
gazebo = element('gazebo',reference=bodyname+'_imuframe')
sensor = element('sensor',name=bodyname+'_imu',type='imu')
sub(sensor,'imuTransform').text='0 0 0 0 0 0'
sub(sensor,'always_on').text='true'
sub(sensor,'pose').text='0 0 0 0 0 0'
imu = sub(sensor,'imu')
imu.append(self.noise_gaussian())
self.robot.append(gazebo)
def gazebo(self,refname,color=None,selfcollide=None,sensor=None):
#<gazebo reference="refname">
##<material></material>
##<selfCollide></self...>
##<plugin/>
gazebo = element('gazebo',reference=refname)
if not color is None:
sub(gazebo,'material').text = 'Gazebo/'+color
if not selfcollide is None:
sub(gazebo,'selfCollide').text='true'
#!!!now printing...!!!#
if sensor == 'imu':
self.sensor_imu(refname)
return gazebo
def robot_state_publisher(self, robotname, pkgname):
sub(self.launch,
'arg',
name='model',
default='$(find {})/urdf/{}.urdf'.format(pkgname, robotname))
sub(self.launch,
'param',
name='robot_description',
textfile='$(arg model)')
sub(self.launch,
'rosparam',
file='$(find {})/config/{}.yaml'.format(pkgname, robotname),
command='load') #very important
jsp = self.node('joint_state_publisher', 'joint_state_publisher',
'joint_state_publisher')
rsp = self.node('robot_state_publisher',
'robot_state_publisher',
'robot_state_publisher',
respawn='false',
output='screen')
od = OrderedDict(
) #Because element(and python's func) cannot take 'from'(like import,def and so on) as an argument.
od['from'] = '/joint_states'
od['to'] = '/' + robotname + '/joint_states'
rsp.append(element('remap', od))
self.launch.append(rsp)
def transmission(self,jointname):
#<transmission name="..._tr">
##<type></type>
##<joint>
###<hardwareInterface/>
##</joint>
##<actuator>
###<hardwareInterface/>
##</actuator>
#</transmission>
tr = element('transmission',name=jointname+'_tr')
#type
sub(tr,'type').text = 'transmission_interface/SimpleTransmission'
#joint
joint = sub(tr,'joint',name=jointname)
joint.append(self.hardwareInterface('EffortJointInterface'))
#actuator
actuator = sub(tr,'actuator',name=jointname+'_mtr')
actuator.append(self.hardwareInterface('EffortJointInterface'))
sub(actuator,'mechanicalReduction').text = '1'
return tr
def link(self,name,origin,inertial,geometry,gazebo):
#init link
#<link>
##<inertial/>
##<visual/>
##<collision/>
#</link>
#<gazebo reference=name/>
link = sub(self.robot,'link',name=name)
link.append(inertial)
link.append(self.visual(name,copy(origin),copy(geometry)))
link.append(self.collision(name,copy(origin),copy(geometry)))
#gazebo reference
self.robot.append(gazebo)
def joint_revolute(self,name,parent,child,xyz,rpy,axis,limits):
#<joint name="name" type="revolute">
##<parent link="parentname"/>
##<child link="childname"/>
##<origin/>
##<axis xyz="xyz"/>
##<limit params="limits"/>#<-inaccuracy
#</joint>
#<transmission/>
joint = sub(self.robot,'joint',name=name,type='revolute')
joint.extend(self.parentchild(parent,child))
joint.append(self.origin(xyz,rpy))
joint.append(self.axis(axis))
joint.append(self.limits_revolute(limits))
self.robot.append(self.transmission(name))
def noise_gaussian(self):
#<noise>
##<type>gaussian</>
##<rate>
###<mean>0.0</>
###<stddev>0.03</>
###<bias_mean>7.5e-06</>
###<bias_stddev>8e-07</>
##</rate>
##<accel>
###...
##</accel>
#</noise>
noise = element('noise')
sub(noise,'type').text='gaussian'
rate = self.mean_stddev_bias('rate')
accel = self.mean_stddev_bias('accel')
noise.extend((rate,accel))
return noise
def gazebo_ros_imu(self,bodyname):
#ref:https://gitlab.com/nasa-jsc-robotics/val_description/blob/ddaf8378741839f26ae6d734dbe6e4441b9b1e23/model/robots/common/xacro/sensors/microstrain.xacro
gazebo = element('gazebo')
plugin = element('plugin',name='gazebo_ros_imu',filename='libgazebo_ros_imu.so')
sub(plugin,'topicName').text=bodyname+'/imu'
sub(plugin,'bodyName').text=bodyname
sub(plugin,'serviceName').text=bodyname+'/imu_service'
sub(plugin,'frameName').text=bodyname+'_imuframe'
sub(plugin,'updateRate').text='100.0'
sub(plugin,'gaussianNoise').text='0.0'
#sub(plugin,'xyzOffset').text='0,0,0'
#sub(plugin,'rpyOffset').text='0,0,0'
gazebo.append(plugin)
return gazebo
def gazebo_ros_control(self,robotname):
gazebo = element('gazebo')
plugin = sub(gazebo,'plugin',name='gazebo_ros_control',filename='libgazebo_ros_control.so')
sub(plugin,'robotNamespace').text = robotname
sub(plugin,'robotSimType').text = 'gazebo_ros_control/DefaultRobotHWSim'
return gazebo
def joint_fixed(self,name,parent,child):
#<joint name="name" type="fixed">
##<parent link="parentname"/>
#</joint>
joint = sub(self.robot,'joint',name=name,type='fixed')
joint.extend(self.parentchild(parent,child))
from plistlib import readPlist
from cgi import escape
from lxml.etree import SubElement as sub
import lxml.etree
# Load in apple mail rules file
rules_file = '~/Library/Mail/V2/MailData/SyncedRules.plist'
rules = readPlist(rules_file)
# Create gmail filters xml header
APPS_NAMESPACE = 'http://schemas.google.com/apps/2006'
NSMAP = {None: 'http://www.w3.org/2005/Atom', 'apps': APPS_NAMESPACE}
feed = lxml.etree.Element('feed', nsmap=NSMAP)
title = sub(feed, 'title').text = 'Mail Filters'
author = sub(feed, 'author')
sub(author, 'name').text = 'Adam Walz'
sub(author, 'email').text = '*****@*****.**'
# Parse apple mail rules
prop = '{' + APPS_NAMESPACE + "}property"
for rule in rules:
if rule['Criteria'][0]['Header'] == 'AnyMessage':
continue
# All mail rules have the following sub elements
entry = sub(feed, 'entry')
sub(entry, 'category', attrib={'term': 'filter'})
sub(entry, 'title').text = 'Mail Filter'
sub(entry, 'content')
def empty_world(self, **args):
include = element('include',
file='$(find gazebo_ros)/launch/empty_world.launch')
for i, j in args.items():
sub(include, 'arg', name=i, value=j)
self.launch.append(include)