Class URDFConfig

Defined in File urdf_config.hpp

Inheritance Relationships

Base Type

public moveit_setup::SetupConfig (Class SetupConfig)

Class Documentation

class URDFConfig : public moveit_setup::SetupConfig 

Public Functions

inline URDFConfig()

virtual void onInit() override: Overridable initialization method.

virtual void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override

Loads the configuration from an existing MoveIt configuration.

The data can be loaded directly from files in the configuration via the package path.

Certain other pieces of “meta” information may be stored in the .setup_assistant yaml file in the root of the configuration. If there is a node in that file that matches this config’s name, it is passed in as an argument.

Parameters:: package_path – The path to the root folder of the configuration.

virtual YAML::Node saveToYaml() const override: Optionally save “meta” information for saving in the .setup_assistant yaml file.

void loadFromPath(const std::filesystem::path &urdf_file_path, const std::string &xacro_args = ""): Load URDF File.

void loadFromPath(const std::filesystem::path &urdf_file_path, const std::vector<std::string> &xacro_args)

void loadFromPackage(const std::filesystem::path &package_name, const std::filesystem::path &relative_path, const std::string &xacro_args = "")

inline const urdf::Model &getModel() const

inline const std::shared_ptr<urdf::Model> &getModelPtr() const

inline std::string getURDFPackageName() const

inline std::string getURDFContents() const

inline std::filesystem::path getURDFPath() const

inline std::string getXacroArgs() const

virtual bool isConfigured() const override: Return true if this part of the configuration is completely set up.

bool isXacroFile() const

virtual void collectDependencies(std::set<std::string> &packages) const override

Collect the package dependencies generated by this configuration.

Parameters:: packages – [out] Names of ROS packages

virtual void collectVariables(std::vector<TemplateVariable> &variables) override

Collect key/value pairs for use in templates.

Parameters:: variables – [out] Where to put the new Variables

inline std::string getRobotName() const

Protected Functions

void setPackageName()

void load()

Protected Attributes

std::filesystem::path urdf_path_: Full file-system path to urdf.

std::string urdf_pkg_name_: Name of package containing urdf (note: this may be empty b/c user may not have urdf in pkg)

std::filesystem::path urdf_pkg_relative_path_: Path relative to urdf package (note: this may be same as urdf_path_)

bool urdf_from_xacro_: Flag indicating whether the URDF was loaded from .xacro format.

std::string xacro_args_: xacro arguments in two different formats

std::vector<std::string> xacro_args_vec_

std::shared_ptr<urdf::Model> urdf_model_: URDF robot model.

std::string urdf_string_: URDF robot model string.