A tool for the generation of capsule collision models urdf files.
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README.md

robot_capsule_urdf

Generation of capsule collision models urdf files.

Quickstart

  1. Compile robot_capsule_urdf by usual ros commands.

  2. Given a robot description package in the form robot_name_description, and given a capsule parameters file in robot_name_description/etc/robot_name_capasule_param you can run the following command to generate a new urdf file for your robot:

    rosrun robot_capsule_urdf robot_capsule_urdf robot_name > robot_name_capsule.urdf
  3. If you want to generate automatically the capsule urdf when building robot_name_descrition, you can include the following in CmakeLists.txt:

    rosbuild_find_ros_package(robot_capsule_urdf)
    set(_robot_capsule_urdf ${robot_capsule_urdf_PACKAGE_PATH}/bin/robot_capsule_urdf)
    
    macro(generate_capsule_urdf robot_name)
      execute_process(
      COMMAND ${_robot_capsule_urdf} ${robot_name}
      OUTPUT_VARIABLE _capsule_output)
      file(WRITE ${CMAKE_SOURCE_DIR}/urdf/${robot_name}_capsule.urdf ${_capsule_output})
    endmacro()
    
    generate_capsule_urdf(robot_name)