Merge branch 'master' into support_nox

euscollada/scripts/add_eef_to_urdf.py

@@ -17,7 +17,7 @@ def addEEF(xdoc, end_effector_info, limb_info, limb_name):
     if "parent" in end_effector_info:
         parent = end_effector_info["parent"]
     else:
-        parent = limb_info[-1].keys()[0].replace("JOINT", "LINK") # not goood!
+        parent = list(limb_info[-1].keys())[0].replace("JOINT", "LINK") # not goood!
     if "translate" in end_effector_info:
         pos = end_effector_info["translate"]
     else:

euscollada/scripts/parseColladaBase.py

@@ -25,7 +25,7 @@ def fixed_writexml(self, writer, indent="", addindent="", newl=""):
     writer.write(indent+"<" + self.tagName)
 
     attrs = self._get_attributes()
-    a_names = attrs.keys()
+    a_names = list(attrs.keys())
     a_names.sort()
 
     for a_name in a_names:
@@ -441,7 +441,7 @@ def add_eef(self, xml_obj):
                         print("cannot find limb: %s" %(limb), file=sys.stderr)
                         return
                     limb_lst = self.yaml_data[limb]
-                    parent = limb_lst[-1].keys()[0].replace("JOINT", "LINK") # not goood!
+                    parent = list(limb_lst[-1].keys())[0].replace("JOINT", "LINK") # not goood!
                 xml_obj.add_manipulator('%s_end_coords'%limb, root, parent,
                                         translate = translate, rotate = rotate)
 

euscollada/scripts/urdf_patch.py

@@ -72,7 +72,7 @@ def runDiff(original_file, new_file, output_file):
 def runPatch(input_file, patch_yaml, output_file):
     input_robot = URDF.from_xml_file(input_file)
     patch_param = yaml.load(open(patch_yaml))
-    for joint_name in patch_param.keys():
+    for joint_name in list(patch_param.keys()):
         diff = patch_param[joint_name]
         if "xyz" in diff:
             j = input_robot.joint_map[joint_name]

urdf_mesh_converter/.gitignore

@@ -0,0 +1,2 @@
+!.gitignore
+requirements.txt

urdf_mesh_converter/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(urdf_mesh_converter)
+
+Find_package(
+  catkin REQUIRED
+  catkin_virtualenv
+)
+
+if (${catkin_virtualenv_VERSION} VERSION_LESS "0.5.1")
+  message(WARNING "${PROJECT_NAME} requires catkin_virtualenv >= 0.5.1")
+  return()
+endif()
+
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+)
+
+if($ENV{ROS_DISTRO} STREQUAL "noetic")
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python3
+  )
+else()
+  message(WARNING "This package uses trimesh for model conversion. Trimesh has discontinued support for Python 2 quite some time ago. Please use Python 3 or later.")
+  return()
+endif()
+
+file(GLOB SCRIPTS_FILES scripts/*)
+catkin_install_python(
+  PROGRAMS ${SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS rostest)
+
+  set(python_test_scripts
+    tests/test_urdf_mesh_converter.py
+  )
+
+  catkin_install_python(PROGRAMS ${python_test_scripts}
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+  add_rostest(tests/test_urdf_mesh_converter.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv)
+endif()
+
+
+install(DIRECTORY scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

urdf_mesh_converter/README.md

@@ -0,0 +1,22 @@
+# URDF Mesh Converter
+
+This package converts the colored output of the URDF Exporter plugin of SolidWorks into the format readable by ROS systems.
+Specifically, this package generates colored `.dae` models from `.3dxml` files.
+
+JSK users should refer to the URDF Exporter documentation for [guidance](https://docs.google.com/presentation/d/1c2fdw6f_ny4jizH5VS3M7yLNd60M3rzsZs-ACR1ghNI).
+
+
+## Quick Start
+After building this package, source your workspace. Then, simply execute the command below, specifying your .3dxml URDF file path and the desired output URDF path.
+
+```
+rosrun urdf_mesh_converter convert_urdf_mesh.py <YOUR_URDF_PATH> --output <OUTPUT_URDF_PATH>
+```
+
+For a practical example, you can apply this package to an actual URDF by running the following command:
+
+```
+rosrun urdf_mesh_converter convert_urdf_mesh.py $(rospack find urdf_mesh_converter)/samples/pitch_yaw_2axis_camera_module.urdf --output $(rospack find urdf_mesh_converter)/samples/pitch_yaw_2axis_camera_module_modified.urdf
+```
+
+![](./doc/samples_pitch_yaw_2axis_camera_module.jpg "Sample Converted URDF")

urdf_mesh_converter/package.xml

@@ -0,0 +1,30 @@
+<package format="3">
+
+  <name>urdf_mesh_converter</name>
+  <version>0.4.5</version>
+  <description>
+    Convert urdf mesh.
+  </description>
+
+  <license>BSD</license>
+  <maintainer email="[email protected]">Iori Yanokura</maintainer>
+  <author email="[email protected]">Iori Yanokura</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_virtualenv</buildtool_depend>
+
+  <!-- ALPHABETICAL ORDER -->
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3</build_depend>
+  <!-- ALPHABETICAL ORDER -->
+
+  <!-- ALPHABETICAL ORDER -->
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3</exec_depend>
+  <!-- ALPHABETICAL ORDER -->
+
+  <test_depend>rostest</test_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+
+</package>