bool parseVisual(Visual &vis, TiXmlElement *config)
{
vis.clear();
// Origin
TiXmlElement *o = config->FirstChildElement("origin");
if (o) {
if (!parsePose(vis.origin, o))
return false;
}
// Geometry
TiXmlElement *geom = config->FirstChildElement("geometry");
vis.geometry = parseGeometry(geom);
if (!vis.geometry)
return false;
const char *name_char = config->Attribute("name");
if (name_char)
vis.name = name_char;
// Material
TiXmlElement *mat = config->FirstChildElement("material");
if (mat) {
// get material name
if (!mat->Attribute("name")) {
CONSOLE_BRIDGE_logError("Visual material must contain a name attribute");
return false;
}
vis.material_name = mat->Attribute("name");
// try to parse material element in place
vis.material.reset(new Material());
if (!parseMaterial(*vis.material, mat, true))
{
CONSOLE_BRIDGE_logDebug("urdfdom: material has only name, actual material definition may be in the model");
}
}
return true;
}
bool parseModelState(ModelState &ms, TiXmlElement* config)
{
ms.clear();
const char *name_char = config->Attribute("name");
if (!name_char)
{
CONSOLE_BRIDGE_logError("No name given for the model_state.");
return false;
}
ms.name = std::string(name_char);
const char *time_stamp_char = config->Attribute("time_stamp");
if (time_stamp_char)
{
try {
double sec = boost::lexical_cast<double>(time_stamp_char);
ms.time_stamp.set(sec);
}
catch (boost::bad_lexical_cast &e) {
CONSOLE_BRIDGE_logError("Parsing time stamp [%s] failed: %s", time_stamp_char, e.what());
return false;
}
}
TiXmlElement *joint_state_elem = config->FirstChildElement("joint_state");
if (joint_state_elem)
{
JointStateSharedPtr joint_state;
joint_state.reset(new JointState());
const char *joint_char = joint_state_elem->Attribute("joint");
if (joint_char)
joint_state->joint = std::string(joint_char);
else
{
CONSOLE_BRIDGE_logError("No joint name given for the model_state.");
return false;
}
// parse position
const char *position_char = joint_state_elem->Attribute("position");
if (position_char)
{
std::vector<std::string> pieces;
boost::split( pieces, position_char, boost::is_any_of(" "));
for (unsigned int i = 0; i < pieces.size(); ++i){
if (pieces[i] != ""){
try {
joint_state->position.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
}
catch (boost::bad_lexical_cast &/*e*/) {
throw ParseError("position element ("+ pieces[i] +") is not a valid float");
}
}
}
}
// parse velocity
const char *velocity_char = joint_state_elem->Attribute("velocity");
if (velocity_char)
{
std::vector<std::string> pieces;
boost::split( pieces, velocity_char, boost::is_any_of(" "));
for (unsigned int i = 0; i < pieces.size(); ++i){
if (pieces[i] != ""){
try {
joint_state->velocity.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
}
catch (boost::bad_lexical_cast &/*e*/) {
throw ParseError("velocity element ("+ pieces[i] +") is not a valid float");
}
}
}
}
// parse effort
const char *effort_char = joint_state_elem->Attribute("effort");
if (effort_char)
{
std::vector<std::string> pieces;
boost::split( pieces, effort_char, boost::is_any_of(" "));
for (unsigned int i = 0; i < pieces.size(); ++i){
if (pieces[i] != ""){
try {
joint_state->effort.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
}
catch (boost::bad_lexical_cast &/*e*/) {
throw ParseError("effort element ("+ pieces[i] +") is not a valid float");
}
}
}
}
// add to vector
ms.joint_states.push_back(joint_state);
}
return false;
}
bool parseJoint(Joint &joint, TiXmlElement* config)
{
joint.clear();
// Get Joint Name
const char *name = config->Attribute("name");
if (!name)
{
CONSOLE_BRIDGE_logError("unnamed joint found");
return false;
}
joint.name = name;
// Get transform from Parent Link to Joint Frame
TiXmlElement *origin_xml = config->FirstChildElement("origin");
if (!origin_xml)
{
CONSOLE_BRIDGE_logDebug("urdfdom: Joint [%s] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", joint.name.c_str());
joint.parent_to_joint_origin_transform.clear();
}
else
{
if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml))
{
joint.parent_to_joint_origin_transform.clear();
CONSOLE_BRIDGE_logError("Malformed parent origin element for joint [%s]", joint.name.c_str());
return false;
}
}
// Get Parent Link
TiXmlElement *parent_xml = config->FirstChildElement("parent");
if (parent_xml)
{
const char *pname = parent_xml->Attribute("link");
if (!pname)
{
CONSOLE_BRIDGE_logInform("no parent link name specified for Joint link [%s]. this might be the root?", joint.name.c_str());
}
else
{
joint.parent_link_name = std::string(pname);
}
}
// Get Child Link
TiXmlElement *child_xml = config->FirstChildElement("child");
if (child_xml)
{
const char *pname = child_xml->Attribute("link");
if (!pname)
{
CONSOLE_BRIDGE_logInform("no child link name specified for Joint link [%s].", joint.name.c_str());
}
else
{
joint.child_link_name = std::string(pname);
}
}
// Get Joint type
const char* type_char = config->Attribute("type");
if (!type_char)
{
CONSOLE_BRIDGE_logError("joint [%s] has no type, check to see if it's a reference.", joint.name.c_str());
return false;
}
std::string type_str = type_char;
if (type_str == "planar")
joint.type = Joint::PLANAR;
else if (type_str == "floating")
joint.type = Joint::FLOATING;
else if (type_str == "revolute")
joint.type = Joint::REVOLUTE;
else if (type_str == "continuous")
joint.type = Joint::CONTINUOUS;
else if (type_str == "prismatic")
joint.type = Joint::PRISMATIC;
else if (type_str == "fixed")
joint.type = Joint::FIXED;
else
{
CONSOLE_BRIDGE_logError("Joint [%s] has no known type [%s]", joint.name.c_str(), type_str.c_str());
return false;
}
// Get Joint Axis
if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED)
{
// axis
TiXmlElement *axis_xml = config->FirstChildElement("axis");
if (!axis_xml){
CONSOLE_BRIDGE_logDebug("urdfdom: no axis elemement for Joint link [%s], defaulting to (1,0,0) axis", joint.name.c_str());
joint.axis = Vector3(1.0, 0.0, 0.0);
}
else{
if (axis_xml->Attribute("xyz")){
try {
joint.axis.init(axis_xml->Attribute("xyz"));
}
catch (ParseError &e) {
joint.axis.clear();
CONSOLE_BRIDGE_logError("Malformed axis element for joint [%s]: %s", joint.name.c_str(), e.what());
return false;
}
}
}
}
// Get limit
TiXmlElement *limit_xml = config->FirstChildElement("limit");
if (limit_xml)
{
joint.limits.reset(new JointLimits());
if (!parseJointLimits(*joint.limits, limit_xml))
{
CONSOLE_BRIDGE_logError("Could not parse limit element for joint [%s]", joint.name.c_str());
joint.limits.reset();
return false;
}
}
else if (joint.type == Joint::REVOLUTE)
{
CONSOLE_BRIDGE_logError("Joint [%s] is of type REVOLUTE but it does not specify limits", joint.name.c_str());
return false;
}
else if (joint.type == Joint::PRISMATIC)
{
CONSOLE_BRIDGE_logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str());
return false;
}
// Get safety
TiXmlElement *safety_xml = config->FirstChildElement("safety_controller");
if (safety_xml)
{
joint.safety.reset(new JointSafety());
if (!parseJointSafety(*joint.safety, safety_xml))
{
CONSOLE_BRIDGE_logError("Could not parse safety element for joint [%s]", joint.name.c_str());
joint.safety.reset();
return false;
}
}
// Get calibration
TiXmlElement *calibration_xml = config->FirstChildElement("calibration");
if (calibration_xml)
{
joint.calibration.reset(new JointCalibration());
if (!parseJointCalibration(*joint.calibration, calibration_xml))
{
CONSOLE_BRIDGE_logError("Could not parse calibration element for joint [%s]", joint.name.c_str());
joint.calibration.reset();
return false;
}
}
// Get Joint Mimic
TiXmlElement *mimic_xml = config->FirstChildElement("mimic");
if (mimic_xml)
{
joint.mimic.reset(new JointMimic());
if (!parseJointMimic(*joint.mimic, mimic_xml))
{
CONSOLE_BRIDGE_logError("Could not parse mimic element for joint [%s]", joint.name.c_str());
joint.mimic.reset();
return false;
}
}
// Get Dynamics
TiXmlElement *prop_xml = config->FirstChildElement("dynamics");
if (prop_xml)
{
joint.dynamics.reset(new JointDynamics());
if (!parseJointDynamics(*joint.dynamics, prop_xml))
{
CONSOLE_BRIDGE_logError("Could not parse joint_dynamics element for joint [%s]", joint.name.c_str());
joint.dynamics.reset();
return false;
}
}
return true;
}
bool parseJointSafety(JointSafety &js, TiXmlElement* config)
{
js.clear();
// Get soft_lower_limit joint limit
const char* soft_lower_limit_str = config->Attribute("soft_lower_limit");
if (soft_lower_limit_str == NULL)
{
CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no soft_lower_limit, using default value");
js.soft_lower_limit = 0;
}
else
{
try
{
js.soft_lower_limit = boost::lexical_cast<double>(soft_lower_limit_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("soft_lower_limit value (%s) is not a float: %s",soft_lower_limit_str, e.what());
return false;
}
}
// Get soft_upper_limit joint limit
const char* soft_upper_limit_str = config->Attribute("soft_upper_limit");
if (soft_upper_limit_str == NULL)
{
CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no soft_upper_limit, using default value");
js.soft_upper_limit = 0;
}
else
{
try
{
js.soft_upper_limit = boost::lexical_cast<double>(soft_upper_limit_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("soft_upper_limit value (%s) is not a float: %s",soft_upper_limit_str, e.what());
return false;
}
}
// Get k_position_ safety "position" gain - not exactly position gain
const char* k_position_str = config->Attribute("k_position");
if (k_position_str == NULL)
{
CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no k_position, using default value");
js.k_position = 0;
}
else
{
try
{
js.k_position = boost::lexical_cast<double>(k_position_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("k_position value (%s) is not a float: %s",k_position_str, e.what());
return false;
}
}
// Get k_velocity_ safety velocity gain
const char* k_velocity_str = config->Attribute("k_velocity");
if (k_velocity_str == NULL)
{
CONSOLE_BRIDGE_logError("joint safety: no k_velocity");
return false;
}
else
{
try
{
js.k_velocity = boost::lexical_cast<double>(k_velocity_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("k_velocity value (%s) is not a float: %s",k_velocity_str, e.what());
return false;
}
}
return true;
}
bool parseJointLimits(JointLimits &jl, TiXmlElement* config)
{
jl.clear();
// Get lower joint limit
const char* lower_str = config->Attribute("lower");
if (lower_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no lower, defaults to 0");
jl.lower = 0;
}
else
{
try
{
jl.lower = boost::lexical_cast<double>(lower_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("lower value (%s) is not a float: %s", lower_str, e.what());
return false;
}
}
// Get upper joint limit
const char* upper_str = config->Attribute("upper");
if (upper_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no upper, , defaults to 0");
jl.upper = 0;
}
else
{
try
{
jl.upper = boost::lexical_cast<double>(upper_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("upper value (%s) is not a float: %s",upper_str, e.what());
return false;
}
}
// Get joint effort limit
const char* effort_str = config->Attribute("effort");
if (effort_str == NULL){
CONSOLE_BRIDGE_logError("joint limit: no effort");
return false;
}
else
{
try
{
jl.effort = boost::lexical_cast<double>(effort_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("effort value (%s) is not a float: %s",effort_str, e.what());
return false;
}
}
// Get joint velocity limit
const char* velocity_str = config->Attribute("velocity");
if (velocity_str == NULL){
CONSOLE_BRIDGE_logError("joint limit: no velocity");
return false;
}
else
{
try
{
jl.velocity = boost::lexical_cast<double>(velocity_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("velocity value (%s) is not a float: %s",velocity_str, e.what());
return false;
}
}
return true;
}
ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
{
ModelInterfaceSharedPtr model(new ModelInterface);
model->clear();
TiXmlDocument xml_doc;
xml_doc.Parse(xml_string.c_str());
if (xml_doc.Error())
{
CONSOLE_BRIDGE_logError(xml_doc.ErrorDesc());
xml_doc.ClearError();
model.reset();
return model;
}
TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot");
if (!robot_xml)
{
CONSOLE_BRIDGE_logError("Could not find the 'robot' element in the xml file");
model.reset();
return model;
}
// Get robot name
const char *name = robot_xml->Attribute("name");
if (!name)
{
CONSOLE_BRIDGE_logError("No name given for the robot.");
model.reset();
return model;
}
model->name_ = std::string(name);
// Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{
MaterialSharedPtr material;
material.reset(new Material);
try {
parseMaterial(*material, material_xml, false); // material needs to be fully defined here
if (model->getMaterial(material->name))
{
CONSOLE_BRIDGE_logError("material '%s' is not unique.", material->name.c_str());
material.reset();
model.reset();
return model;
}
else
{
model->materials_.insert(make_pair(material->name,material));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
}
}
catch (ParseError &/*e*/) {
CONSOLE_BRIDGE_logError("material xml is not initialized correctly");
material.reset();
model.reset();
return model;
}
}
// Get all Link elements
for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{
LinkSharedPtr link;
link.reset(new Link);
try {
parseLink(*link, link_xml);
if (model->getLink(link->name))
{
CONSOLE_BRIDGE_logError("link '%s' is not unique.", link->name.c_str());
model.reset();
return model;
}
else
{
// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
assignMaterial(link->visual, model, link->name.c_str());
}
for (const auto& visual : link->visual_array)
{
assignMaterial(visual, model, link->name.c_str());
}
model->links_.insert(make_pair(link->name,link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
}
}
catch (ParseError &/*e*/) {
CONSOLE_BRIDGE_logError("link xml is not initialized correctly");
model.reset();
return model;
}
}
if (model->links_.empty()){
CONSOLE_BRIDGE_logError("No link elements found in urdf file");
model.reset();
return model;
}
// Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{
JointSharedPtr joint;
joint.reset(new Joint);
if (parseJoint(*joint, joint_xml))
{
if (model->getJoint(joint->name))
{
CONSOLE_BRIDGE_logError("joint '%s' is not unique.", joint->name.c_str());
model.reset();
return model;
}
else
{
model->joints_.insert(make_pair(joint->name,joint));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
}
}
else
{
CONSOLE_BRIDGE_logError("joint xml is not initialized correctly");
model.reset();
return model;
}
}
// every link has children links and joints, but no parents, so we create a
// local convenience data structure for keeping child->parent relations
std::map<std::string, std::string> parent_link_tree;
parent_link_tree.clear();
// building tree: name mapping
try
{
model->initTree(parent_link_tree);
}
catch(ParseError &e)
{
CONSOLE_BRIDGE_logError("Failed to build tree: %s", e.what());
model.reset();
return model;
}
// find the root link
try
{
model->initRoot(parent_link_tree);
}
catch(ParseError &e)
{
CONSOLE_BRIDGE_logError("Failed to find root link: %s", e.what());
model.reset();
return model;
}
return model;
}
bool parseLink(Link &link, TiXmlElement* config)
{
link.clear();
const char *name_char = config->Attribute("name");
if (!name_char)
{
CONSOLE_BRIDGE_logError("No name given for the link.");
return false;
}
link.name = std::string(name_char);
// Inertial (optional)
TiXmlElement *i = config->FirstChildElement("inertial");
if (i)
{
link.inertial.reset(new Inertial());
if (!parseInertial(*link.inertial, i))
{
CONSOLE_BRIDGE_logError("Could not parse inertial element for Link [%s]", link.name.c_str());
return false;
}
}
// Multiple Visuals (optional)
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
{
VisualSharedPtr vis;
vis.reset(new Visual());
if (parseVisual(*vis, vis_xml))
{
link.visual_array.push_back(vis);
}
else
{
vis.reset();
CONSOLE_BRIDGE_logError("Could not parse visual element for Link [%s]", link.name.c_str());
return false;
}
}
// Visual (optional)
// Assign the first visual to the .visual ptr, if it exists
if (!link.visual_array.empty())
link.visual = link.visual_array[0];
// Multiple Collisions (optional)
for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
{
CollisionSharedPtr col;
col.reset(new Collision());
if (parseCollision(*col, col_xml))
{
link.collision_array.push_back(col);
}
else
{
col.reset();
CONSOLE_BRIDGE_logError("Could not parse collision element for Link [%s]", link.name.c_str());
return false;
}
}
// Collision (optional)
// Assign the first collision to the .collision ptr, if it exists
if (!link.collision_array.empty())
link.collision = link.collision_array[0];
return true;
}
bool parseInertial(Inertial &i, TiXmlElement *config)
{
i.clear();
// Origin
TiXmlElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parsePose(i.origin, o))
return false;
}
TiXmlElement *mass_xml = config->FirstChildElement("mass");
if (!mass_xml)
{
CONSOLE_BRIDGE_logError("Inertial element must have a mass element");
return false;
}
if (!mass_xml->Attribute("value"))
{
CONSOLE_BRIDGE_logError("Inertial: mass element must have value attribute");
return false;
}
try
{
i.mass = boost::lexical_cast<double>(mass_xml->Attribute("value"));
}
catch (boost::bad_lexical_cast &/*e*/)
{
std::stringstream stm;
stm << "Inertial: mass [" << mass_xml->Attribute("value")
<< "] is not a float";
CONSOLE_BRIDGE_logError(stm.str().c_str());
return false;
}
TiXmlElement *inertia_xml = config->FirstChildElement("inertia");
if (!inertia_xml)
{
CONSOLE_BRIDGE_logError("Inertial element must have inertia element");
return false;
}
if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") &&
inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
inertia_xml->Attribute("izz")))
{
CONSOLE_BRIDGE_logError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
return false;
}
try
{
i.ixx = boost::lexical_cast<double>(inertia_xml->Attribute("ixx"));
i.ixy = boost::lexical_cast<double>(inertia_xml->Attribute("ixy"));
i.ixz = boost::lexical_cast<double>(inertia_xml->Attribute("ixz"));
i.iyy = boost::lexical_cast<double>(inertia_xml->Attribute("iyy"));
i.iyz = boost::lexical_cast<double>(inertia_xml->Attribute("iyz"));
i.izz = boost::lexical_cast<double>(inertia_xml->Attribute("izz"));
}
catch (boost::bad_lexical_cast &/*e*/)
{
std::stringstream stm;
stm << "Inertial: one of the inertia elements is not a valid double:"
<< " ixx [" << inertia_xml->Attribute("ixx") << "]"
<< " ixy [" << inertia_xml->Attribute("ixy") << "]"
<< " ixz [" << inertia_xml->Attribute("ixz") << "]"
<< " iyy [" << inertia_xml->Attribute("iyy") << "]"
<< " iyz [" << inertia_xml->Attribute("iyz") << "]"
<< " izz [" << inertia_xml->Attribute("izz") << "]";
CONSOLE_BRIDGE_logError(stm.str().c_str());
return false;
}
return true;
}
