Functions
GroupNodePtr_t	parse (const std::string &robotName, const std::string &urdf_file_path, const std::string &meshDataRootDir, const std::string &collisionOrVisual="visual", const std::string &linkOrObjectFrame="link")
	Create a node from an urdf file. More...

Function Documentation

GroupNodePtr_t graphics::urdfParser::parse	(	const std::string &	robotName,
		const std::string &	urdf_file_path,
		const std::string &	meshDataRootDir,
		const std::string &	collisionOrVisual = `"visual"`,
		const std::string &	linkOrObjectFrame = `"link"`
	)

Create a node from an urdf file.

Parameters

robotName	Name of the node that will contain the robot geometry, each geometric part is prefixed by this name,
urdf_file_path	to the package containing the urdf file, i.e. "/opt/ros/hydro/share/pr2_description",
meshDataRootDir	path to the package that contains the collada files, i.e. "/opt/ros/hydro/share/"
collisionOrVisual	whether to parse the visual part or the collision part of links.
linkOrObjectFrame	in the urdf kinematic chain, objects are rigidly attached to a link. This parameter determines whether the node frame corresponds to the link frame or to the object frame.

Note: the parser will replace "package://" by meshDataRootDir in the urdf file.

Functions