rdf_loader.cpp

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/* Author: Ioan Sucan */

#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/profiler/profiler.h>
#include <ros/ros.h>

rdf_loader::RDFLoader::RDFLoader(const std::string& robot_description)
{
  moveit::tools::Profiler::ScopedStart prof_start;
  moveit::tools::Profiler::ScopedBlock prof_block("RDFLoader(robot_description)");

  ros::WallTime start = ros::WallTime::now();
  ros::NodeHandle nh("~");
  std::string content;

  if (!nh.searchParam(robot_description, robot_description_) || !nh.getParam(robot_description_, content))
  {
    ROS_ERROR("Robot model parameter not found! Did you remap '%s'?", robot_description.c_str());
    return;
  }

  urdf::Model* umodel = new urdf::Model();
  if (!umodel->initString(content))
  {
    ROS_ERROR("Unable to parse URDF from parameter '%s'", robot_description_.c_str());
    return;
  }
  urdf_.reset(umodel);

  const std::string srdf_description(robot_description_ + "_semantic");
  std::string scontent;
  if (!nh.getParam(srdf_description, scontent))
  {
    ROS_ERROR("Robot semantic description not found. Did you forget to define or remap '%s'?",
              srdf_description.c_str());
    return;
  }

  srdf_.reset(new srdf::Model());
  if (!srdf_->initString(*urdf_, scontent))
  {
    ROS_ERROR("Unable to parse SRDF from parameter '%s'", srdf_description.c_str());
    srdf_.reset();
    return;
  }

  ROS_DEBUG_STREAM_NAMED("rdf", "Loaded robot model in " << (ros::WallTime::now() - start).toSec() << " seconds");
}

rdf_loader::RDFLoader::RDFLoader(const std::string& urdf_string, const std::string& srdf_string)
{
  moveit::tools::Profiler::ScopedStart prof_start;
  moveit::tools::Profiler::ScopedBlock prof_block("RDFLoader(string)");

  urdf::Model* umodel = new urdf::Model();
  urdf_.reset(umodel);
  if (umodel->initString(urdf_string))
  {
    srdf_.reset(new srdf::Model());
    if (!srdf_->initString(*urdf_, srdf_string))
    {
      ROS_ERROR("Unable to parse SRDF");
      srdf_.reset();
    }
  }
  else
  {
    ROS_ERROR("Unable to parse URDF");
    urdf_.reset();
  }
}

rdf_loader::RDFLoader::RDFLoader(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc)
{
  moveit::tools::Profiler::ScopedStart prof_start;
  moveit::tools::Profiler::ScopedBlock prof_block("RDFLoader(XML)");

  urdf::Model* umodel = new urdf::Model();
  urdf_.reset(umodel);
  if (umodel->initXml(urdf_doc))
  {
    srdf_.reset(new srdf::Model());
    if (!srdf_->initXml(*urdf_, srdf_doc))
    {
      ROS_ERROR("Unable to parse SRDF");
      srdf_.reset();
    }
  }
  else
  {
    ROS_ERROR("Unable to parse URDF");
    urdf_.reset();
  }
}