pcg-urdflint

#!/usr/bin/env python
# Copyright (c) 2019 - The Procedural Generation for Gazebo authors
# For information on the respective copyright owner see the NOTICE file
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from __future__ import print_function
import argparse
import os
from pcg_gazebo.parsers import parse_urdf, parse_xacro


if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='Convert URDF to URDF file')
    parser.add_argument(
        '--param', '-p', type=str,
        help='ROS parameter where the URDF robot description is stored')
    parser.add_argument(
        '--filename', '-f', type=str,
        help='Filename name to the URDF robot description or XACRO file to generate it')
    parser.add_argument(
        '--xml', '-x', type=str,
        help='XML text input with the URDF robot description')
    parser.add_argument(
        '--print', action='store_true',
        help='Print the file')
    parser.add_argument(
        '--verbose', '-v', action='store_true',
        help='Run on verbose mode')

    args = parser.parse_args()

    if args.param is not None:
        try:
            import rospy
        except ImportError as ex:
            print('rospy could not be imported')
            exit()
        if args.verbose:
            print('Verifying errors in URDF from ROS parameter: {}'.format(
                args.param))
        rospy.init_node('urdflint', anonymous=True)

        assert rospy.has_param(args.param), \
            'ROS parameter {} not found'.format(args.param)

        xml = rospy.get_param(args.param)
        urdf = parse_urdf(xml)
        assert urdf is not None, \
            'URDF file could not be parsed from ROS' \
            ' parameter input, input={}'.format(args.param)
    elif args.filename is not None:
        if args.verbose:
            print('Verifying errors in URDF file: {}'.format(args.filename))

        assert os.path.isfile(args.filename), \
            'Invalid URDF filename, file={}'.format(
                args.filename)
        if args.filename.endswith('.xacro'):
            urdf = parse_xacro(args.filename, output_type='urdf')
        else:
            urdf = parse_urdf(args.filename)
        assert urdf is not None, \
            'URDF file could not be parsed from file' \
            ' filename={}'.format(args.filename)
    elif args.xml is not None:
        if args.verbose:
            print('Verifying errors in URDF input: {}'.format(args.xml))
        urdf = parse_urdf(args.xml)
        assert urdf is not None, \
            'URDF file could not be parsed from XML input' \
            ' xml={}'.format(args.xml)
    else:
        raise ValueError('Not valid input for URDF source was provided')

    print('URDF file: OK')

    if args.print:
        print(urdf)