ros_urdf

Functions to parse and load to the ROS parameter server the URDF files.

ros_urdf.urdf_load_from_pkg(pkg_name, model_name, param_name, folder='/urdf', ns=None, args_xacro=None) → bool[source]

Function to load a URDF from a ROS package to the parameter server.

Parameters

pkg_name (str) – The ROS package name.
model_name (str) – The model file name.
param_name (str) – The parameter name.
folder (str) – The folder where the model is located. Default: “/urdf”
ns (str) – The namespace of the parameter.
args_xacro (list of str.) – The xacro arguments in a list. Eg: [‘arg1:=True’,’arg2:=10.0’]

Returns

True if the URDF was loaded, False otherwise.

Return type

bool

ros_urdf.urdf_load_from_path(model_path, param_name, ns=None, args_xacro=None) → bool[source]

Function to load a URDF from a file to the parameter server.

Parameters

model_path (str) – The model file path.
param_name (str) – The parameter name.
ns (str) – The namespace of the parameter.
args_xacro (list of str.) – The xacro arguments in a list. Eg: [‘arg1:=True’,’arg2:=10.0’]

Returns

True if the URDF was loaded, False otherwise.

Return type

bool

ros_urdf.urdf_parse_from_pkg(pkg_name, model_name, folder='/urdf', args_xacro=None) → str[source]

Function to parse a URDF from a ROS package and return the URDF string.

Parameters

pkg_name (str) – The ROS package name.
model_name (str) – The model file name.
folder (str) – The folder where the model is located. Default: “/urdf”
args_xacro (list of str.) – The xacro arguments in a list. Eg: [‘arg1:=True’,’arg2:=10.0’]

Returns

The URDF string or None if the pkg or file was not found.

Return type

str

ros_urdf.urdf_parse_from_path(model_path, args_xacro=None) → bool[source]

Function to parse a URDF from a file and return the URDF string.

Parameters

model_path (str) – The model file path.
args_xacro (list of str.) – The xacro arguments in a list. Eg: [‘arg1:=True’,’arg2:=10.0’]

Returns

The URDF string or None if the file was not found.

Return type

str