URDF Stitcher

[stonier]

Bill has something along these lines. With the current configuration, what I'd like to perhaps have is

• library of component urdf's
• script which will generate full robot urdf from the library

i.e. provided a set of arguments (or environment variables), it will automatically select the appropriate components (tags) from the library and create a xacro for you. This script could be called in minimal.launch and it would run as follows:

• get all the variables together
• check ${ROS_HOME}/turtlebot/description to see if a xacro wasn't already available (e.g. kobuki-hexagons-kinect-cupholder.
• if not, put together the components and write that xacro file
• finally, make it available to the rest of the running system in the usual way.

[stonier]

No cycles right now and what we have now is sufficient but lets keep a look out for common solutions coming out.