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Retrieve link collision geometry #22

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Retrieve link collision geometry #22

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4e0ffb4
Retrieve link collision geometry
eborghi10 May 3, 2023
a4ce5dc
More robust geometry check
eborghi10 Sep 30, 2024
a2723fa
Add visual parser
eborghi10 Oct 3, 2024
78eef9b
Treat errors as messages
eborghi10 Nov 26, 2024
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18 changes: 18 additions & 0 deletions include/urdf_geometry_parser/urdf_geometry_parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,24 @@ class UrdfGeometryParser {
bool getJointRadius(const std::string& joint_name,
double& radius);

/**
* \brief Get link collision geometry from the URDF
* \param link_name Name of the link
* \param geometry Geometry of the link
* \return true if the geometry was found; false otherwise
*/
bool getLinkCollisionGeometry(const std::string& link_name,
urdf::GeometrySharedPtr& geometry);

/**
* \brief Get link visual geometry from the URDF
* \param link_name Name of the link
* \param geometry Geometry of the link
* \return true if the geometry was found; false otherwise
*/
bool getLinkVisualGeometry(const std::string& link_name,
urdf::GeometrySharedPtr& geometry);

/**
* \brief Get joint steering limit from the URDF
* considering the upper and lower limit is the same
Expand Down
68 changes: 62 additions & 6 deletions src/urdf_geometry_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,19 +53,19 @@ namespace urdf_geometry_parser{

if (!link->collision)
{
ROS_ERROR_STREAM("Link " << link->name << " does not have collision description. Add collision description for link to urdf.");
ROS_WARN_STREAM("Link " << link->name << " does not have collision description. Add collision description for link to urdf.");
return false;
}

if (!link->collision->geometry)
{
ROS_ERROR_STREAM("Link " << link->name << " does not have collision geometry description. Add collision geometry description for link to urdf.");
ROS_WARN_STREAM("Link " << link->name << " does not have collision geometry description. Add collision geometry description for link to urdf.");
return false;
}

if (link->collision->geometry->type != urdf::Geometry::CYLINDER)
{
ROS_ERROR_STREAM("Link " << link->name << " does not have cylinder geometry");
ROS_WARN_STREAM("Link " << link->name << " does not have cylinder geometry");
return false;
}

Expand All @@ -82,7 +82,7 @@ namespace urdf_geometry_parser{
{
if (!isCylinder(wheel_link))
{
ROS_ERROR_STREAM("Wheel link " << wheel_link->name << " is NOT modeled as a cylinder!");
ROS_WARN_STREAM("Wheel link " << wheel_link->name << " is NOT modeled as a cylinder!");
return false;
}

Expand All @@ -100,13 +100,13 @@ namespace urdf_geometry_parser{
std::string robot_model_str="";
if (!res || !root_nh.getParam(model_param_name,robot_model_str))
{
ROS_ERROR("Robot descripion couldn't be retrieved from param server.");
ROS_ERROR("Robot description couldn't be retrieved from param server.");
}
else
{
model_ = urdf::parseURDF(robot_model_str);
if(!model_)
ROS_ERROR_STREAM("Could not parse the urdf robot model "<<model_param_name);
ROS_ERROR_STREAM("Could not parse the URDF robot model "<<model_param_name);
}
}

Expand Down Expand Up @@ -178,6 +178,62 @@ namespace urdf_geometry_parser{
return false;
}

bool UrdfGeometryParser::getLinkCollisionGeometry(const std::string& link_name,
urdf::GeometrySharedPtr& geometry)
{
if(model_)
{
urdf::LinkConstSharedPtr link(model_->getLink(link_name));
if (!link)
{
ROS_ERROR_STREAM(link_name << " couldn't be retrieved from model description");
return false;
}
if (!link->collision)
{
ROS_WARN_STREAM("Link " << link_name << " does not have collision description");
return false;
}
if (!link->collision->geometry)
{
ROS_WARN_STREAM("Link " << link_name << " does not have collision geometry description");
return false;
}
geometry = link->collision->geometry;
return true;
}
else
return false;
}

bool UrdfGeometryParser::getLinkVisualGeometry(const std::string& link_name,
urdf::GeometrySharedPtr& geometry)
{
if(model_)
{
urdf::LinkConstSharedPtr link(model_->getLink(link_name));
if (!link)
{
ROS_ERROR_STREAM(link_name << " couldn't be retrieved from model description");
return false;
}
if (!link->visual)
{
ROS_WARN_STREAM("Link " << link_name << " does not have visual description");
return false;
}
if (!link->visual->geometry)
{
ROS_WARN_STREAM("Link " << link_name << " does not have visual geometry description");
return false;
}
geometry = link->visual->geometry;
return true;
}
else
return false;
}

bool UrdfGeometryParser::getJointSteeringLimits(const std::string& joint_name,
double& steering_limit)
{
Expand Down