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Fix bug in GetUrdfService move_group capability #2669

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merged 6 commits into from
Feb 7, 2024
Merged

Fix bug in GetUrdfService move_group capability #2669

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ba5b3c4
Take both possible closings for links into account
sjahr Jan 30, 2024
46a3c17
Merge branch 'main' into pr-fix_urd_parsing_bug
sjahr Jan 31, 2024
e809608
Make CI happy
sjahr Jan 31, 2024
3f25c11
Merge branch 'main' into pr-fix_urd_parsing_bug
sjahr Feb 1, 2024
0d934f7
Merge branch 'main' into pr-fix_urd_parsing_bug
sjahr Feb 5, 2024
4431877
Merge branch 'main' into pr-fix_urd_parsing_bug
sjahr Feb 7, 2024
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49 changes: 37 additions & 12 deletions moveit_ros/move_group/src/default_capabilities/get_group_urdf_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ rclcpp::Logger getLogger()
const auto JOINT_ELEMENT_CLOSING = std::string("</joint>");
const auto LINK_ELEMENT_CLOSING = std::string("</link>");
const auto ROBOT_ELEMENT_CLOSING = std::string("</robot>");
const auto GENERAL_ELEMENT_CLOSING = std::string("/>");
} // namespace

GetUrdfService::GetUrdfService() : MoveGroupCapability("get_group_urdf")
Expand Down Expand Up @@ -99,32 +100,56 @@ void GetUrdfService::initialize()
std::string("\" xmlns:xacro=\"http://ros.org/wiki/xacro\">");

// Create links
const auto& link_names = subgroup->getLinkModelNames();
auto link_names = subgroup->getLinkModelNames();
// Remove duplicates
std::sort(link_names.begin(), link_names.end());
link_names.erase(std::unique(link_names.begin(), link_names.end()), link_names.end());

for (const auto& link_name : link_names)
{
const auto start = full_urdf_string.find("<link name=\"" + link_name);
const auto start = full_urdf_string.find("<link name=\"" + link_name + "\"");
auto substring = full_urdf_string.substr(start, full_urdf_string.size() - start);
res->urdf_string += substring.substr(0, substring.find(LINK_ELEMENT_CLOSING) + LINK_ELEMENT_CLOSING.size());

// Link elements can be closed either by "/>" or "</link>" so we need to consider both cases
auto const substring_without_opening = substring.substr(1, substring.size() - 2);
auto const general_opening_pos_a = substring_without_opening.find('<');
auto const link_closing_pos_b = substring.find(GENERAL_ELEMENT_CLOSING);
// Case "/>"
if (link_closing_pos_b < general_opening_pos_a)
{
res->urdf_string += substring.substr(0, link_closing_pos_b + GENERAL_ELEMENT_CLOSING.size());
}
// Case </link>
else
{
res->urdf_string += substring.substr(0, substring.find(LINK_ELEMENT_CLOSING) + LINK_ELEMENT_CLOSING.size());
}
}

// Create joints
const auto& joint_names = subgroup->getJointModelNames();
auto joint_names = subgroup->getJointModelNames();
// Remove duplicates
std::sort(joint_names.begin(), joint_names.end());
joint_names.erase(std::unique(joint_names.begin(), joint_names.end()), joint_names.end());
for (const auto& joint_name : joint_names)
{
const auto start = full_urdf_string.find("<joint name=\"" + joint_name + "\" type");
auto substring = full_urdf_string.substr(start, full_urdf_string.size() - start);
res->urdf_string += substring.substr(0, substring.find(JOINT_ELEMENT_CLOSING) + JOINT_ELEMENT_CLOSING.size());
}
// If existing add the base link to the subgroup URDF
std::string base_link_element;
if (!joint_names.empty())
{
const auto parent_link_element = subgroup->getJointModel(joint_names.at(0))->getParentLinkModel()->getName();
base_link_element = "<link name=\"" + parent_link_element + "\"/>";
RCLCPP_ERROR(getLogger(), "%s", joint_name.c_str());

// If parent link model is not part of the joint group, add it
const auto parent_link_element = subgroup->getJointModel(joint_name)->getParentLinkModel()->getName();
if (std::find(link_names.begin(), link_names.end(), parent_link_element) == link_names.end())
{
auto const base_link_element = "<link name=\"" + parent_link_element + "\"/>";
res->urdf_string += base_link_element;
link_names.push_back(parent_link_element);
}
}

// Add closing
res->urdf_string += base_link_element + ROBOT_ELEMENT_CLOSING;
res->urdf_string += ROBOT_ELEMENT_CLOSING;

// Validate urdf file
if (!urdf::parseURDF(res->urdf_string))
Expand Down
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