generate_urdf.py 文件源码

def export_list_to_xacro(list, filename):
    """Export all links containing a string and its parent joint.

    :param : list, list of strings to look for
    :param : filename, absolute path of the file to write to
    """
    global robot, OUTPUT
    doc = Document()
    root = doc.createElement('robot')
    doc.appendChild(root)
    root.setAttribute("xmlns:xacro", "http://www.ros.org/wiki/xacro")
    print ('exporting ' + os.path.basename(filename))
    for string in list:
        for link in robot.links:
            if robot.links[link].name.find(string) != -1:
                root.appendChild(robot.links[link].to_xml(doc))
                for joint in robot.joints:
                    if robot.joints[joint].child == robot.links[link].name:
                        root.appendChild(robot.joints[joint].to_xml(doc))
    write_comments_in_xacro(doc, filename)