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Update URDF Importer to process sensor elements.

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Update the URDF Importer to add sensors as 0 mass 0 inertia elements
attached by a fixed joint. This way their states can be read as links.
This commit is contained in:
mbennice
2018-09-26 16:35:22 -07:00
parent 180a9f5103
commit f79b04357f
4 changed files with 124 additions and 3 deletions
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1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -31,6 +31,7 @@ enum ConvertURDFFlags
CUF_ENABLE_SLEEPING = 2048,
CUF_INITIALIZE_SAT_FEATURES = 4096,
CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
CUF_PARSE_SENSORS = 16384,
};
struct UrdfVisualShapeCache

117
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1,5 +1,5 @@
#include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "third_party/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h"
#include "urdfLexicalCast.h"
using namespace tinyxml2;
@@ -1436,6 +1436,72 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l
return true;
}
bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
{
// Sensors are mapped to Links with a Fixed Joints connecting to the parents.
// They has no extent or mass so they will work with the existing
// model without affecting the system.
logger->reportError("Adding Sensor ");
const char* sensorName = config->Attribute("name");
if (!sensorName)
{
logger->reportError("Sensor with no name");
return false;
}
logger->reportError(sensorName);
link.m_name = sensorName;
link.m_linkTransformInWorld.setIdentity();
link.m_inertia.m_mass = 0.f;
link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 0.f;
link.m_inertia.m_iyy = 0.f;
link.m_inertia.m_izz = 0.f;
// Get Parent Link
XMLElement* parent_xml = config->FirstChildElement("parent");
if (parent_xml)
{
if (m_parseSDF)
{
joint.m_parentLinkName = std::string(parent_xml->GetText());
}
else
{
const char* pname = parent_xml->Attribute("link");
if (!pname)
{
logger->reportError("no parent link name specified for sensor. this might be the root?");
logger->reportError(joint.m_name.c_str());
return false;
}
else
{
joint.m_parentLinkName = std::string(pname);
}
}
}
joint.m_name = std::string(sensorName).append("_Joint");
joint.m_childLinkName = sensorName;
joint.m_type = URDFFixedJoint;
joint.m_localJointAxis.setValue(0, 0, 0);
// Get transform from Parent Link to Joint Frame
XMLElement* origin_xml = config->FirstChildElement("origin");
if (origin_xml)
{
if (!parseTransform(joint.m_parentLinkToJointTransform, origin_xml, logger))
{
logger->reportError("Malformed origin element for sensor:");
logger->reportError(joint.m_name.c_str());
return false;
}
}
return true;
}
bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
{
// every link has children links and joints, but no parents, so we create a
@@ -1516,7 +1582,7 @@ bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
return true;
}
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors)
{
XMLDocument xml_doc;
xml_doc.Parse(urdfText);
@@ -1647,6 +1713,53 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
}
}
if (parseSensors) {
// Get all Sensor Elements.
for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
{
UrdfLink* sensor = new UrdfLink;
UrdfJoint* sensor_joint = new UrdfJoint;
if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
{
if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
{
logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
logger->reportError(sensor->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
{
logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
logger->reportError(sensor_joint->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else
{
m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
}
}
else
{
logger->reportError("failed to parse sensor");
delete sensor;
delete sensor_joint;
return false;
}
}
}
if (m_urdf2Model.m_links.size() == 0)
{
logger->reportWarning("No links found in URDF file");
return false;
}
bool ok(initTreeAndRoot(m_urdf2Model, logger));
if (!ok)
{

8
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -267,6 +267,7 @@ protected:
bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
public:
UrdfParser();
@@ -285,7 +286,12 @@ public:
m_urdfScaling = scaling;
}
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase);
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors);
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) {
return loadUrdf(urdfText, logger, forceFixedBase, false);
}
bool loadSDF(const char* sdfText, ErrorLogger* logger);
int getNumModels() const

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -820,6 +820,7 @@ enum eURDF_Flags
URDF_ENABLE_SLEEPING = 2048,
URDF_INITIALIZE_SAT_FEATURES = 4096,
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
URDF_PARSE_SENSORS = 16384,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes