Go to the documentation of this file.00001
00002
00003
00004
00005 import rospy
00006 from xml.dom.minidom import parseString
00007 if __name__ == "__main__":
00008 rospy.init_node("semantic_robot_state_generator")
00009 root_link = rospy.get_param("~root_link", "BODY")
00010 global_frame = rospy.get_param("~global_frame", "odom")
00011 robot_description = rospy.get_param("/robot_description")
00012 robot_description_doc = parseString(robot_description)
00013 robot_name = robot_description_doc.getElementsByTagName("robot")[0].getAttribute("name")
00014
00015 srdf_str = """<?xml version="1.0" ?>
00016 <robot name="%s">
00017 <virtual_joint name="world_joint" type="floating" parent_frame="%s" child_link="%s" />
00018 <passive_joint name="world_joint" />
00019 </robot>
00020 """ % (robot_name, global_frame, root_link)
00021 rospy.set_param("/robot_description_semantic", srdf_str)
00022