urdf_remove_pedestal.py

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#!/usr/bin/env python

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import rospy
import re

match_link = "(.*)<link[^>]*name\s*=\s*\"pedestal\"[^>]*>.*?[^<]<\/link>(.*)"
match_joint = "(.*)<joint[^>]*name\s*=\s*\"pedestal_fixed\"[^>]*>.*?[^<]<\/joint>(.*)"

if __name__ == '__main__':
    try:
        rospy.init_node('urdf_remove_pedestal', anonymous=True)
        param_src = rospy.get_param('~param_src', "/robot_description")
        param_dest = rospy.get_param('~param_dest', "/robot_description_mod")
        urdf = rospy.get_param(param_src, "")
        changed = False
        if urdf:
            obj = re.match(match_link, urdf, re.S)
            if obj:
                urdf = obj.group(1) + obj.group(2)
                changed = True
                rospy.loginfo("Removed link 'pedestal'")
            else:
                rospy.logwarn("Failed to find link 'pedestal'")
            
            obj = re.match(match_joint, urdf, re.S)
            if obj:
                urdf = obj.group(1) + obj.group(2)
                changed = True
                rospy.loginfo("Removed joint 'pedestal_fixed'")
            else:
                rospy.logwarn("Failed to find joint 'pedestal_fixed'")
            
            rospy.set_param(param_dest, urdf)
            if changed:
                rospy.loginfo("Updated parameter '%s'", param_dest)
            else:
                rospy.loginfo("Copied parameter '%s' to '%s'", param_src, param_dest)
        else:
            rospy.logwarn("Parameter '%s' not found", param_src)
    except rospy.ROSInterruptException: pass