rdf_loader.h

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/* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/rdf_loader/synchronized_string_parameter.h>
#if __has_include(<urdf/model.hpp>)
#include <urdf/model.hpp>
#else
#include <urdf/model.h>
#endif
#include <srdfdom/model.h>
#include <rclcpp/rclcpp.hpp>
 
namespace rdf_loader
{
MOVEIT_CLASS_FORWARD(RDFLoader);  // Defines RDFLoaderPtr, ConstPtr, WeakPtr... etc
 
using NewModelCallback = std::function<void()>;
 
class RDFLoader
{
public:
  RDFLoader(const std::shared_ptr<rclcpp::Node>& node, const std::string& ros_name = "robot_description",
            bool default_continuous_value = false, double default_timeout = 10.0);
 
  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
 
  const std::string& getRobotDescription() const
  {
    return ros_name_;
  }
 
  const std::string& getURDFString() const
  {
    return urdf_string_;
  }
 
  const urdf::ModelInterfaceSharedPtr& getURDF() const
  {
    return urdf_;
  }
 
  const srdf::ModelSharedPtr& getSRDF() const
  {
    return srdf_;
  }
 
  void setNewModelCallback(const NewModelCallback& cb)
  {
    new_model_cb_ = cb;
  }
 
  static bool isXacroFile(const std::string& path);
 
  static bool loadFileToString(std::string& buffer, const std::string& path);
 
  static bool loadXacroFileToString(std::string& buffer, const std::string& path,
                                    const std::vector<std::string>& xacro_args);
 
  static bool loadXmlFileToString(std::string& buffer, const std::string& path,
                                  const std::vector<std::string>& xacro_args);
 
  static bool loadPkgFileToString(std::string& buffer, const std::string& package_name,
                                  const std::string& relative_path, const std::vector<std::string>& xacro_args);
 
private:
  bool loadFromStrings();
 
  void urdfUpdateCallback(const std::string& new_urdf_string);
  void srdfUpdateCallback(const std::string& new_srdf_string);
 
  NewModelCallback new_model_cb_;
 
  std::string ros_name_;
  std::string urdf_string_, srdf_string_;
 
  SynchronizedStringParameter urdf_ssp_;
  SynchronizedStringParameter srdf_ssp_;
 
  srdf::ModelSharedPtr srdf_;
  urdf::ModelInterfaceSharedPtr urdf_;
};
}  // namespace rdf_loader