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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2016 CITEC, Bielefeld University | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the authors nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Robert Haschke */ | ||
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| #ifndef URDF_SENSOR_H | ||
| #define URDF_SENSOR_H | ||
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| #include <string> | ||
| #include <map> | ||
| #include <urdf_parser/sensor_parser.h> | ||
| #include <pluginlib/class_loader.h> | ||
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| namespace urdf { | ||
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| // Maintain class loader together with created parser instances | ||
| class ManagedSensorParserMap : public SensorParserMap { | ||
| public: | ||
| std::unique_ptr<pluginlib::ClassLoader<urdf::SensorParser>> loader; | ||
| ManagedSensorParserMap(); | ||
| ~ManagedSensorParserMap(); | ||
| ManagedSensorParserMap(const ManagedSensorParserMap&) = delete; | ||
| ManagedSensorParserMap(ManagedSensorParserMap &&) = default; | ||
| ManagedSensorParserMap &operator=(ManagedSensorParserMap &&) = default; | ||
| }; | ||
|
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| /** Retrieve sensor parsers available through the plugin-lib mechanism | ||
| whose name matches any of the names listed in allowed. | ||
| If allowed is empty (the default), all parsers will be returned. | ||
| */ | ||
| urdf::ManagedSensorParserMap getSensorParsers(const std::vector<std::string> &allowed = std::vector<std::string>()); | ||
|
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| /** Conveniency method returning the SensorParserMap for the given sensor name */ | ||
| urdf::ManagedSensorParserMap getSensorParser(const std::string &name); | ||
|
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| /** parse <sensor> tags in URDF document */ | ||
| SensorMap parseSensors(const std::string &xml, const urdf::SensorParserMap &parsers); | ||
| SensorMap parseSensorsFromParam(const std::string ¶m, const urdf::SensorParserMap &parsers); | ||
| SensorMap parseSensorsFromFile(const std::string &filename, const urdf::SensorParserMap &parsers); | ||
|
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| } | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2016 CITEC, Bielefeld University | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the authors nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Robert Haschke */ | ||
|
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| #include "urdf/sensor.h" | ||
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| #include <ros/ros.h> | ||
| #include <algorithm> | ||
| #include <fstream> | ||
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| namespace urdf { | ||
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| ManagedSensorParserMap::ManagedSensorParserMap() | ||
| : loader(new pluginlib::ClassLoader<urdf::SensorParser>("urdf", "urdf::SensorParser")) | ||
| {} | ||
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| ManagedSensorParserMap::~ManagedSensorParserMap() { | ||
| clear(); // first destroy parser instances | ||
| loader.reset(); // and subsequently the loader | ||
| } | ||
|
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| SensorMap parseSensorsFromFile(const std::string &filename, const SensorParserMap &parsers) | ||
| { | ||
| SensorMap result; | ||
| std::ifstream stream(filename.c_str()); | ||
| if (!stream.is_open()) | ||
| { | ||
| throw std::runtime_error("Could not open file [" + filename + "] for parsing."); | ||
| } | ||
|
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| std::string xml_string((std::istreambuf_iterator<char>(stream)), | ||
| std::istreambuf_iterator<char>()); | ||
| return parseSensors(xml_string, parsers); | ||
| } | ||
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| SensorMap parseSensorsFromParam(const std::string ¶m, const SensorParserMap &parsers) | ||
| { | ||
| ros::NodeHandle nh; | ||
| std::string xml_string; | ||
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| // gets the location of the robot description on the parameter server | ||
| std::string full_param; | ||
| if (!nh.searchParam(param, full_param)){ | ||
| throw std::runtime_error("Could not find parameter " + param + " on parameter server"); | ||
| } | ||
|
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| // read the robot description from the parameter server | ||
| if (!nh.getParam(full_param, xml_string)){ | ||
| throw std::runtime_error("Could not read parameter " + param + " on parameter server"); | ||
| } | ||
| return parseSensors(xml_string, parsers); | ||
| } | ||
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| SensorMap parseSensors(const std::string &xml_string, const SensorParserMap &parsers) | ||
| { | ||
| TiXmlDocument xml_doc; | ||
| xml_doc.Parse(xml_string.c_str()); | ||
| if (xml_doc.Error()) | ||
| throw std::runtime_error(std::string("Could not parse the xml document: ") + xml_doc.ErrorDesc()); | ||
| return parseSensors(xml_doc, parsers); | ||
| } | ||
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| ManagedSensorParserMap getSensorParsers(const std::vector<std::string> &allowed) | ||
| { | ||
| pluginlib::ClassLoader<urdf::SensorParser> loader("urdf", "urdf::SensorParser"); | ||
| ManagedSensorParserMap parserMap; | ||
| try | ||
| { | ||
| const std::vector<std::string> &classes = parserMap.loader->getDeclaredClasses(); | ||
| for (std::size_t i = 0 ; i < classes.size() ; ++i) | ||
| { | ||
| // skip this class if not listed in allowed | ||
| if (!allowed.empty() && std::find(allowed.begin(), allowed.end(), classes[i]) == allowed.end()) | ||
| continue; | ||
|
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| urdf::SensorParserSharedPtr parser; | ||
| try { | ||
| parser = parserMap.loader->createUniqueInstance(classes[i]); | ||
| } catch(const pluginlib::PluginlibException& ex) { | ||
| ROS_ERROR_STREAM("Failed to create sensor parser: " << classes[i] << "\n" << ex.what()); | ||
| } | ||
| parserMap.insert(std::make_pair(classes[i], parser)); | ||
| ROS_DEBUG_STREAM("added sensor parser: " << classes[i]); | ||
| } | ||
| if (parserMap.empty()) | ||
| ROS_WARN_STREAM("No sensor parsers found"); | ||
| } | ||
| catch(const pluginlib::PluginlibException& ex) | ||
| { | ||
| ROS_ERROR_STREAM("Exception while creating sensor plugin loader " << ex.what()); | ||
| } | ||
| return parserMap; | ||
| } | ||
|
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| ManagedSensorParserMap getSensorParser(const std::string &name) | ||
| { | ||
| std::vector<std::string> allowed; | ||
| allowed.push_back(name); | ||
| return getSensorParsers(allowed); | ||
| } | ||
|
|
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| } // namespace |
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