hrpsys_gazebo_tutorials: make_fixed

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00001 #! /usr/bin/env python
00002 
00003 import sys
00004 import os
00005 import commands
00006 
00007 
00008 def make_fixed_model (name, overwrite=True):
00009 
00010     urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name
00011     fixed_urdf_dir_path = urdf_dir_path + '_fixed'
00012     urdf_path = urdf_dir_path + '/' + 'model.urdf'
00013     fixed_urdf_path = fixed_urdf_dir_path + '/' + 'model.urdf'
00014 
00015     if overwrite:
00016         os.system("rm -rf %s" % fixed_urdf_dir_path)
00017     else:
00018         if os.path.exists(fixed_urdf_dir_path):
00019             print '[ERROR] the same name fixed model already exits'
00020             exit(1)
00021     
00022     os.system("cp -r %s %s" % (urdf_dir_path, fixed_urdf_dir_path))
00023 
00024     root_link_name = commands.getoutput('grep "link name=".*">" %s  | head -n 1 | sed -e "s/  <link name=\\\"\(.*\)\\\">/\\1/"' % fixed_urdf_path)
00025     os.system('sed -i -e \"s@</robot>@  <!-- Used for fixing robot to Gazebo \'base_link\' -->\\n  <link name=\\\"world\\\"/>\\n  <joint name=\\\"fixed\\\" type=\\\"fixed\\\">\\n    <parent link=\\\"world\\\"/>\\n    <child link=\\\"%s\\\"/>\\n  </joint>\\n</robot>@g\" %s' % (root_link_name, fixed_urdf_path))
00026 
00027     os.system('sed -i -e "s@<robot name=\\"\(.*\)\\"@<robot name=\\"\\1_fixed\\"@g\" %s' % fixed_urdf_path)
00028 
00029 
00030 if __name__ == '__main__':
00031     if len(sys.argv) > 1:
00032         make_fixed_model(sys.argv[1])