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Parse xacro args from .setup_assistant config in MoveIt Configs Builder #2172

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merged 6 commits into from
May 15, 2023
Merged

Parse xacro args from .setup_assistant config in MoveIt Configs Builder #2172

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67fba53
Parse xacro_args from .setup_assistant file
abake48 May 11, 2023
4dee847
pre-commit
abake48 May 12, 2023
ae4b48e
prevent override of mapping
abake48 May 12, 2023
63b5b8e
Merge branch 'main' into pr-config-builder-xacro-args
JafarAbdi May 12, 2023
9214df3
Update moveit_configs_utils/moveit_configs_utils/moveit_configs_build…
JafarAbdi May 12, 2023
8be6e23
Fix bug when the xacro_args is an empty string
JafarAbdi May 12, 2023
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10 changes: 8 additions & 2 deletions moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,7 @@ def __init__(

self.__urdf_package = None
self.__urdf_file_path = None
self.__urdf_xacro_args = None
self.__srdf_file_path = None

modified_urdf_path = Path("config") / (self.__robot_name + ".urdf.xacro")
Expand All @@ -179,6 +180,11 @@ def __init__(
)
self.__urdf_file_path = Path(urdf_config["relative_path"])

if "xacro_args" in urdf_config:
self.__urdf_xacro_args = dict(
arg.split(":=") for arg in urdf_config["xacro_args"].split(" ")
)

srdf_config = config.get("srdf", config.get("SRDF"))
if srdf_config:
self.__srdf_file_path = Path(srdf_config["relative_path"])
Expand Down Expand Up @@ -224,7 +230,8 @@ def robot_description(
try:
self.__moveit_configs.robot_description = {
self.__robot_description: load_xacro(
robot_description_file_path, mappings=mappings
robot_description_file_path,
mappings=mappings or self.__urdf_xacro_args,
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Why do we need this or when you assigned mappings on L226 (does 226 need to be removed like Jafar suggested)?

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Yeah, I think that line needs to be removed

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The assignment should be removed now.

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I thought I cut it out of there but I must have accidentally undo'd that change. Thank you @JafarAbdi for cleaning that up for me

)
}
except ParameterBuilderFileNotFoundError as e:
Expand Down Expand Up @@ -253,7 +260,6 @@ def robot_description_semantic(
:param mappings: mappings to be passed when loading the xacro file.
:return: Instance of MoveItConfigsBuilder with robot_description_semantic loaded.
"""

if (mappings is None) or all(
(isinstance(key, str) and isinstance(value, str))
for key, value in mappings.items()
Expand Down