send_urdf_fragment.py 文件源码

def main():
    """RSDK URDF Fragment Example:
    This example shows a proof of concept for
    adding your URDF fragment to the robot's
    onboard URDF (which is currently in use).
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-f', '--file', metavar='PATH', required=True,
        help='Path to URDF file to send'
    )
    required.add_argument(
        '-l', '--link', required=False, default="right_hand",
        help='URDF Link already to attach fragment to (usually <left/right>_hand)'
    )
    required.add_argument(
        '-j', '--joint', required=False, default="right_gripper_base",
        help='Root joint for fragment (usually <left/right>_gripper_base)'
    )
    parser.add_argument("-d", "--duration", type=lambda t:abs(float(t)),
            default=5.0, help="[in seconds] Duration to publish fragment")
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('rsdk_configure_urdf', anonymous=True)

    if not os.access(args.file, os.R_OK):
        rospy.logerr("Cannot read file at '%s'" % (args.file,))
        return 1
    send_urdf(args.link, args.joint, args.file, args.duration)
    return 0