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Introduced a conditional for mesh path inclusion #15

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merged 1 commit into from
Feb 1, 2022
Merged

Introduced a conditional for mesh path inclusion #15

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74 changes: 58 additions & 16 deletions urdf/inc/ur_common.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,8 @@
</inertial>
</xacro:macro>

<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths">

<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name="config_joint_limit_parameters" value="${load_yaml(joint_limits_parameters_file)}"/>
<xacro:property name="config_kinematics_parameters" value="${load_yaml(kinematics_parameters_file)}"/>
Expand Down Expand Up @@ -166,35 +167,76 @@
<xacro:property name="wrist_radius" value="${sec_inertia_parameters['wrist_radius']}" scope="parent"/>
<!-- Mesh files -->
<xacro:property name="base_mesh" value="${sec_mesh_files['base']}"/>
<xacro:property name="base_visual_mesh" value="file://$(find ${base_mesh['visual']['mesh']['package']})/${base_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="base_collision_mesh" value="file://$(find ${base_mesh['collision']['mesh']['package']})/${base_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="base_visual_mesh" value="file://$(find ${base_mesh['visual']['mesh']['package']})/${base_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="base_collision_mesh" value="file://$(find ${base_mesh['collision']['mesh']['package']})/${base_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="base_visual_mesh" value="package://${base_mesh['visual']['mesh']['package']}/${base_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="base_collision_mesh" value="package://${base_mesh['collision']['mesh']['package']}/${base_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>

<xacro:property name="shoulder_mesh" value="${sec_mesh_files['shoulder']}"/>
<xacro:property name="shoulder_visual_mesh" value="file://$(find ${shoulder_mesh['visual']['mesh']['package']})/${shoulder_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="shoulder_collision_mesh" value="file://$(find ${shoulder_mesh['collision']['mesh']['package']})/${shoulder_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="shoulder_visual_mesh" value="file://$(find ${shoulder_mesh['visual']['mesh']['package']})/${shoulder_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="shoulder_collision_mesh" value="file://$(find ${shoulder_mesh['collision']['mesh']['package']})/${shoulder_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="shoulder_visual_mesh" value="package://${shoulder_mesh['visual']['mesh']['package']}/${shoulder_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="shoulder_collision_mesh" value="package://${shoulder_mesh['collision']['mesh']['package']}/${shoulder_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>

<xacro:property name="upper_arm_mesh" value="${sec_mesh_files['upper_arm']}"/>
<xacro:property name="upper_arm_visual_mesh" value="file://$(find ${upper_arm_mesh['visual']['mesh']['package']})/${upper_arm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="upper_arm_collision_mesh" value="${upper_arm_mesh['collision']['mesh']}" scope="parent"/>
<xacro:property name="upper_arm_collision_mesh" value="file://$(find ${upper_arm_mesh['collision']['mesh']['package']})/${upper_arm_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="upper_arm_visual_mesh" value="file://$(find ${upper_arm_mesh['visual']['mesh']['package']})/${upper_arm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="upper_arm_collision_mesh" value="file://$(find ${upper_arm_mesh['collision']['mesh']['package']})/${upper_arm_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="upper_arm_visual_mesh" value="package://${upper_arm_mesh['visual']['mesh']['package']}/${upper_arm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="upper_arm_collision_mesh" value="package://${upper_arm_mesh['collision']['mesh']['package']}/${upper_arm_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>

<xacro:property name="forearm_mesh" value="${sec_mesh_files['forearm']}"/>
<xacro:property name="forearm_visual_mesh" value="file://$(find ${forearm_mesh['visual']['mesh']['package']})/${forearm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="forearm_collision_mesh" value="file://$(find ${forearm_mesh['collision']['mesh']['package']})/${forearm_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="forearm_visual_mesh" value="file://$(find ${forearm_mesh['visual']['mesh']['package']})/${forearm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="forearm_collision_mesh" value="file://$(find ${forearm_mesh['collision']['mesh']['package']})/${forearm_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="forearm_visual_mesh" value="package://${forearm_mesh['visual']['mesh']['package']}/${forearm_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="forearm_collision_mesh" value="package://${forearm_mesh['collision']['mesh']['package']}/${forearm_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>

<xacro:property name="wrist_1_mesh" value="${sec_mesh_files['wrist_1']}"/>
<xacro:property name="wrist_1_visual_mesh" value="file://$(find ${wrist_1_mesh['visual']['mesh']['package']})/${wrist_1_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_1_collision_mesh" value="file://$(find ${wrist_1_mesh['collision']['mesh']['package']})/${wrist_1_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="wrist_1_visual_mesh" value="file://$(find ${wrist_1_mesh['visual']['mesh']['package']})/${wrist_1_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_1_collision_mesh" value="file://$(find ${wrist_1_mesh['collision']['mesh']['package']})/${wrist_1_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="wrist_1_visual_mesh" value="package://${wrist_1_mesh['visual']['mesh']['package']}/${wrist_1_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_1_collision_mesh" value="package://${wrist_1_mesh['collision']['mesh']['package']}/${wrist_1_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>
<xacro:property name="wrist_1_visual_offset" value="${wrist_1_mesh['visual_offset']}" scope="parent"/>

<xacro:property name="wrist_2_mesh" value="${sec_mesh_files['wrist_2']}"/>
<xacro:property name="wrist_2_visual_mesh" value="file://$(find ${wrist_2_mesh['visual']['mesh']['package']})/${wrist_2_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_2_collision_mesh" value="file://$(find ${wrist_2_mesh['collision']['mesh']['package']})/${wrist_2_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="wrist_2_visual_mesh" value="file://$(find ${wrist_2_mesh['visual']['mesh']['package']})/${wrist_2_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_2_collision_mesh" value="file://$(find ${wrist_2_mesh['collision']['mesh']['package']})/${wrist_2_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="wrist_2_visual_mesh" value="package://${wrist_2_mesh['visual']['mesh']['package']}/${wrist_2_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_2_collision_mesh" value="package://${wrist_2_mesh['collision']['mesh']['package']}/${wrist_2_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>
<xacro:property name="wrist_2_visual_offset" value="${wrist_2_mesh['visual_offset']}" scope="parent"/>

<xacro:property name="wrist_3_mesh" value="${sec_mesh_files['wrist_3']}"/>
<xacro:property name="wrist_3_visual_mesh" value="file://$(find ${wrist_3_mesh['visual']['mesh']['package']})/${wrist_3_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_3_collision_mesh" value="file://$(find ${wrist_3_mesh['collision']['mesh']['package']})/${wrist_3_mesh['collision']['mesh']['path']}" scope="parent"/>
<xacro:if value="${force_abs_paths}">
<xacro:property name="wrist_3_visual_mesh" value="file://$(find ${wrist_3_mesh['visual']['mesh']['package']})/${wrist_3_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_3_collision_mesh" value="file://$(find ${wrist_3_mesh['collision']['mesh']['package']})/${wrist_3_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="wrist_3_visual_mesh" value="package://${wrist_3_mesh['visual']['mesh']['package']}/${wrist_3_mesh['visual']['mesh']['path']}" scope="parent"/>
<xacro:property name="wrist_3_collision_mesh" value="package://${wrist_3_mesh['collision']['mesh']['package']}/${wrist_3_mesh['collision']['mesh']['path']}" scope="parent"/>
</xacro:unless>
<xacro:property name="wrist_3_visual_offset" value="${wrist_3_mesh['visual_offset']}" scope="parent"/>

<!--KINEMATICS HASH-->
Expand Down
3 changes: 2 additions & 1 deletion urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,8 @@
joint_limits_parameters_file="${joint_limits_parameters_file}"
kinematics_parameters_file="${kinematics_parameters_file}"
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"/>
visual_parameters_file="${visual_parameters_file}"
force_abs_paths="${sim_gazebo or sim_ignition}"/>

<!-- Data files required by the UR driver -->
<xacro:arg name="script_filename" default=""/>
Expand Down