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Allow supplying NodeHandle for initParam #168

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Feb 10, 2017
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Allow supplying NodeHandle for initParam #168

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ab7c9d7
Allow supplying NodeHandle for initParam using new function.
piyushk Jan 30, 2017
a9e5fb8
fixed missing return statement in previous commit.
piyushk Jan 30, 2017
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3 changes: 3 additions & 0 deletions urdf/include/urdf/model.h
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Expand Up @@ -44,6 +44,7 @@
#include <tinyxml.h>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <ros/ros.h>
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@wjwwood correct me if I'm wrong, but I think the package.xml needs <build_export_depend>roscpp</build_export_depend> because of this addition

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build_export_depend is unsupported in package.xml format 1, which is what urdf is using. I believe the format 1 build_depend did that behavior by default.

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@mathias-luedtke mathias-luedtke Jan 31, 2017 •
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AFAIK in package format 1 "exported build depends" have to be declared as run_depend.
Source: http://www.ros.org/reps/rep-0127.html#run-depend-multiple and http://www.ros.org/reps/rep-0140.html#removing-run-depend


namespace urdf{

Expand All @@ -58,6 +59,8 @@ class Model: public ModelInterface
bool initFile(const std::string& filename);
/// \brief Load Model given the name of a parameter on the parameter server
bool initParam(const std::string& param);
/// \brief Load Model given the name of a parameter on the parameter server using provided nodehandle
bool initParamWithNodeHandle(const std::string& param, const ros::NodeHandle& nh = ros::NodeHandle());
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Adding this looks good to me. It makes using the library easier.

I think the specific case of ros-controls/ros_controllers#244 could be solved by using NodeHandle::resolveName("robot_description") and passing the fully qualified name into initParam()

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@sloretz: You're right. However, after discussion, we decided to go this route.

/// \brief Load Model from a XML-string
bool initString(const std::string& xmlstring);
};
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8 changes: 5 additions & 3 deletions urdf/src/model.cpp
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Expand Up @@ -36,8 +36,6 @@

#include "urdf/model.h"

#include <ros/ros.h>

/* we include the default parser for plain URDF files;
other parsers are loaded via plugins (if available) */
#include <urdf_parser/urdf_parser.h>
Expand Down Expand Up @@ -88,7 +86,11 @@ bool Model::initFile(const std::string& filename)

bool Model::initParam(const std::string& param)
{
ros::NodeHandle nh;
return initParamWithNodeHandle(param, ros::NodeHandle());
}

bool Model::initParamWithNodeHandle(const std::string& param, const ros::NodeHandle& nh)
{
std::string xml_string;

// gets the location of the robot description on the parameter server
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