urdf_to_collada.cpp

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/* Author: Tim Field */

#include "collada_urdf/collada_urdf.h"
#include <ros/ros.h>

int main(int argc, char** argv)
{
    if (argc != 3) {
        std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
        return -1;
    }

        ros::init(argc, argv, "urdf_to_collada");

    std::string input_filename(argv[1]);
    std::string output_filename(argv[2]);

    urdf::Model robot_model;
    if( !robot_model.initFile(input_filename) ) {
        ROS_ERROR("failed to open urdf file %s",input_filename.c_str());
    }

    boost::shared_ptr<DAE> dom;
    if (!collada_urdf::colladaFromUrdfModel(robot_model, dom)) {
        std::cerr << std::endl << "Error converting document" << std::endl;
        return -1;
    }

    collada_urdf::colladaToFile(dom, output_filename);
    std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;

    return 0;
}