This repo parses a URDF file using the API from https://github.com/ros/urdf. It then generates a kinematics model file. The grammar for this model is Xtext-based and is described in https://github.com/ipa320/kinematics-model.
source /opt/ros/<ROS-DISTRO>/setup.bash
mkdir -p ~/kinematics_ws/src && cd ~/kinematics_ws/src
git clone [email protected]:ipa320/kinematics-model-parser.git
cd ~/kinematics_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build
source ~/kinematics_ws/devel/setup.bash
The node accepts 2 positional arguments:
xacro-file: absolute path to XACRO file to be parsed
model-file: path to kinematics model file to be saved
rosrun urdf_model_generator xacro_model_generator xacro-file model-file