def build_single_xacro_file(input_path, output_path):
try:
# open and process file
doc = process_file(input_path)
# open the output file
out = open_output(output_path)
except xml.parsers.expat.ExpatError as e:
error("XML parsing error: %s" % unicode(e), alt_text=None)
sys.exit(2)
except Exception as e:
msg = unicode(e)
if not msg: msg = repr(e)
error(msg)
sys.exit(2) # gracefully exit with error condition
# write output
out.write(doc.toprettyxml(indent=' ', **encoding))
# only close output file, but not stdout
out.close()
def to_urdf(xacro_path, urdf_path=None):
# If no URDF path is given, use a temporary file
if urdf_path is None:
urdf_path = tempfile.mktemp(prefix='%s_' % os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path)
# open the output file
print(urdf_path)
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
return urdf_path # Return path to the urdf file
def to_urdf(xacro_path, parameters=None):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* parameters -- to be used when xacro file is parsed.
"""
urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path, mappings=parameters)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
return urdf_path
def test_urdf_turtlebot(self):
"""
Check if check_urdf command passes with the urdf that is generated in
the .test file this test case is called from.
"""
resulted_urdf_file_relpath = "./sample_kobuki.urdf"
kobuki_xacro_file_path = rospkg.RosPack().get_path(
'openni_description') + "/test/sample_kobuki.urdf.xacro"
self.assertTrue(os.path.isfile(kobuki_xacro_file_path))
xacro_output_memory = xacro.process_file(kobuki_xacro_file_path)
xacro_output_file = xacro.open_output(resulted_urdf_file_relpath)
xacro_output_file.write(xacro_output_memory.toprettyxml(indent=' '))
xacro_output_file.close()
self.assertTrue(os.path.isfile(resulted_urdf_file_relpath))
self.assertEqual(
0, subprocess.call(["check_urdf", resulted_urdf_file_relpath]))
def to_urdf(xacro_path, urdf_path=None):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* urdf_path -- the path to the urdf file
"""
# If no URDF path is given, use a temporary file
if urdf_path is None:
urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
return urdf_path # Return path to the urdf file
def to_urdf(xacro_path, urdf_path=None, mappings={}):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* urdf_path -- the path to the urdf file
"""
# If no URDF path is given, use a temporary file
if urdf_path is None:
urdf_path = tempfile.mktemp(prefix='%s_' %
os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path, mappings=mappings)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
robot_desc = launch.substitutions.Command('xacro %s' % xacro_path)
return urdf_path, robot_desc # Return robot description
AUTHOR_EMAILS = [author.attrib['email'] for author in AUTHORS]
DATA_FILES = [(f'share/{PACKAGE_NAME}', ['package.xml']),
('share/ament_index/resource_index/packages/', [f'resources/{PACKAGE_NAME}'])]
DATA_FILES += [(os.path.join('share', PACKAGE_NAME, str(directory)),
[str(file) for file in directory.rglob(pattern) if not file.is_dir() and file.parent == directory])
for folder, pattern in SHARE_DIRS for directory in Path(folder).rglob('**')]
BUILD_DIR = next((sys.argv[i + 1] for i, arg in enumerate(sys.argv) if arg == '--build-directory'), None)
if BUILD_DIR:
os.makedirs(BUILD_DIR, exist_ok=True)
for path, files in DATA_FILES:
for file in files:
if file.endswith('.xacro'):
new_file = os.path.join(BUILD_DIR, file.replace('.xacro', ''))
with xacro.open_output(new_file) as fd:
fd.write(xacro.process(file))
files.remove(file)
files.append(new_file)
INSTALL_REQUIRES = ['setuptools']
if os.path.isfile('requirements.txt'):
with open('requirements.txt') as file:
INSTALL_REQUIRES += [line.strip() for line in file.readlines()]
TESTS_REQUIRE = ['pytest']
if os.path.isfile('test-requirements.txt'):
with open('test-requirements.txt') as file:
TESTS_REQUIRE += [line.strip() for line in file.readlines()]
setup(
