Added in test for pelican_urdf

ros · Jul 11, 2013 · 763e0fc · 763e0fc
1 parent 09a748c
commit 763e0fc
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diff --git a/urdf_parser_py/examples/display_urdf → urdf_parser_py/scripts/display_urdf b/urdf_parser_py/examples/display_urdf → urdf_parser_py/scripts/display_urdf
@@ -1,13 +1,15 @@
 #!/usr/bin/env python
 
 import roslib; roslib.load_manifest('urdf_parser_py')
+
 import sys
 import argparse
 
 from urdf_parser_py.urdf import URDF
 
 parser = argparse.ArgumentParser(usage='Load an URDF file')
 parser.add_argument('file', type=argparse.FileType('r'), nargs='?', default=None, help='File to load. Use - for stdin')
+parser.add_argument('-o', '--output', type=argparse.FileType('w'), default=None, help='Dump file to XML')
 args = parser.parse_args()
 
 if args.file is None:
@@ -16,3 +18,6 @@ else:
     robot = URDF.from_xml_string(args.file.read())
 
 print robot
+
+if args.output is not None:
+    args.output.write(robot.to_xml_string())
diff --git a/urdf_parser_py/test/pelican_gen_mer.patch b/urdf_parser_py/test/pelican_gen_mer.patch
@@ -0,0 +1,130 @@
+--- /tmp/pelican.urdf	2013-04-11 09:24:30.325804322 -0500
++++ /tmp/tmp.urdf	2013-04-11 09:26:50.185809508 -0500
+@@ -1,111 +1,78 @@
++<?xml version="1.0"?>
+ <robot name="Asctec Pelican">
+-  
+-################################################################################
+-# LINKS                                                                        #
+-################################################################################
+-
+-  ##### base_link ##############################################################
+-
+   <link name="base_link">
+     <visual>
+-      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
++      <origin rpy="1.57 0.0 3.1415" xyz="0.0 0.0 0.0"/>
+       <geometry>
+-        <mesh filename="package://pelican_urdf/data/pelican.stl" 
+-              scale="0.001 0.001 0.001"/>
++        <mesh filename="package://pelican_urdf/data/pelican.stl" scale="0.001 0.001 0.001"/>
+       </geometry>
+       <material name="blue">
+         <color rgba="0.4 0.4 0.5 1.0"/>
+       </material>
+     </visual>
+   </link>
+-
+-  ##### base_footprint #########################################################
+-
+   <link name="base_footprint"/>
+-
+-  ##### legs ###################################################################
+-
+   <link name="leg_1">
+     <visual>
++      <origin rpy="0.0 0.0 0.0" xyz="0.089 0.0 -0.057"/>
+       <geometry>
+-       <box size="0.044 0.007 0.114"/>
++        <box size="0.044 0.007 0.114"/>
+       </geometry>
+-      <origin xyz="0.089 0.00 -0.057" rpy="0.0 0.0 0.0"/>
+       <material name="g">
+         <color rgba="0.2 0.25 0.25 1.0"/>
+       </material>
+     </visual>
+   </link>
+-
+   <link name="leg_2">
+     <visual>
++      <origin rpy="0.0 0.0 0.0" xyz="-0.089 0.0 -0.057"/>
+       <geometry>
+-       <box size="0.044 0.007 0.114"/>
++        <box size="0.044 0.007 0.114"/>
+       </geometry>
+-      <origin xyz="-0.089 0.00 -0.057" rpy="0.0 0.0 0.0"/>
+       <material name="g"/>
+     </visual>
+   </link>
+-
+   <link name="leg_3">
+     <visual>
++      <origin rpy="0.0 0.0 1.5708" xyz="0.0 0.089 -0.057"/>
+       <geometry>
+-       <box size="0.044 0.007 0.114"/>
++        <box size="0.044 0.007 0.114"/>
+       </geometry>
+-      <origin xyz="0.00 0.089 -0.057" rpy="0.0 0.0 1.5708"/>
+       <material name="g"/>
+     </visual>
+   </link>
+-
+   <link name="leg_4">
+     <visual>
++      <origin rpy="0.0 0.0 1.5708" xyz="0.0 -0.089 -0.057"/>
+       <geometry>
+-       <box size="0.044 0.007 0.114"/>
++        <box size="0.044 0.007 0.114"/>
+       </geometry>
+-      <origin xyz="0.00 -0.089 -0.057" rpy="0.0 0.0 1.5708"/>
+       <material name="g"/>
+     </visual>
+   </link>
+-
+-################################################################################
+-# JOINTS                                                                       #
+-################################################################################
+-
+-  ##### base_footprint #########################################################
+-
+   <joint name="base_link_to_base_footprint" type="fixed">
+     <parent link="base_link"/>
+     <child link="base_footprint"/>
+-    <origin xyz="0.00 0.00 -0.195" rpy="0.0 0.0 0.0"/>
++    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.195"/>
+   </joint>
+-
+-  ##### legs ###################################################################
+-  
+   <joint name="base_link_to_leg_1" type="fixed">
+     <parent link="base_link"/>
+     <child link="leg_1"/>
+-    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
++    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
+   </joint>
+-
+   <joint name="base_link_to_leg_2" type="fixed">
+     <parent link="base_link"/>
+     <child link="leg_2"/>
+-    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
++    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
+   </joint>
+-
+   <joint name="base_link_to_leg_3" type="fixed">
+     <parent link="base_link"/>
+     <child link="leg_3"/>
+-    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
++    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
+   </joint>
+-
+   <joint name="base_link_to_leg_4" type="fixed">
+     <parent link="base_link"/>
+     <child link="leg_4"/>
+-    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
++    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
+   </joint>
+-
+ </robot>
+-
+-
+-
diff --git a/urdf_parser_py/test/pelican_test.launch b/urdf_parser_py/test/pelican_test.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="cat $(find pelican_urdf)/data/pelican.xml" />
+</launch>
diff --git a/urdf_parser_py/test/pelican_test.sh b/urdf_parser_py/test/pelican_test.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+roslaunch ./pelican_test.launch
+rosrun urdf_parser_py display_urdf -o /tmp/pelican_gen.urdf
+python -c 'import rospy; open("/tmp/pelicant.urdf").write(rospy.get_param("/robot_description"))'
+diff -u /tmp/pelican.urdf /tmp/pelican_gen.urdf