gepetto::viewer::urdfParser Namespace Reference

Functions
std::string	getFilename (const std::string &input)
GroupNodePtr_t	parse (const std::string &robotName, const std::string &urdf_file, const bool &visual=true, const bool &linkFrame=true)

Function Documentation

getFilename()

std::string gepetto::viewer::urdfParser::getFilename

(

const std::string &

input

)

If input starts with "package://", read ROS_PACKAGE_PATH environment variable and return a suitable file, if possible. Returns input on failure (no "package://" or no file found in the packages).

parse()

GroupNodePtr_t gepetto::viewer::urdfParser::parse	(	const std::string &	robotName,
		const std::string &	urdf_file,
		const bool &	visual = true,
		const bool &	linkFrame = true
	)

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	two possible inputs: if it ends with ".urdf", it is interpreted as a filename, that will be processed with getFilename otherwise, it is interpreted as a XML string.
visual	whether to parse the visual part or the collision part of links.
linkFrame	in the urdf kinematic chain, objects are rigidly attached to a link. This parameter determines whether the node frame corresponds to the link frame (if True) or to the object frame (If False).

Note

the parser will replace "package://" by a path from the ROS_PACKAGE_PATH environment variable.