robot_capsule_urdf

Generation of capsule collision models urdf files.

Quickstart

1. Compile robot_capsule_urdf by usual ros commands.

2. Given a robot description package in the form robot_name_description, and given a capsule parameters file in robot_name_description/etc/robot_name_capasule_param you can run the following command to generate a new urdf file for your robot:

   rosrun robot_capsule_urdf robot_capsule_urdf robot_name > robot_name_capsule.urdf

3. If you want to generate automatically the capsule urdf when building robot_name_descrition, you can include the following in CmakeLists.txt:

   rosbuild_find_ros_package(robot_capsule_urdf)
   set(_robot_capsule_urdf ${robot_capsule_urdf_PACKAGE_PATH}/bin/robot_capsule_urdf)
   
   macro(generate_capsule_urdf robot_name)
     execute_process(
     COMMAND ${_robot_capsule_urdf} ${robot_name}
     OUTPUT_VARIABLE _capsule_output)
     file(WRITE ${CMAKE_SOURCE_DIR}/urdf/${robot_name}_capsule.urdf ${_capsule_output})
   endmacro()
   
   generate_capsule_urdf(robot_name)