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Retrieve robot name

asked 2017-10-03 11:34:58 -0600

muttidrhummer gravatar image

Is there a way to retrieve robot name from the urdf in c++? Or any other way to get it? Thanks

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any reason you need the name? There's got to be an easier way, but you could read the robot description from the parameter server then parse the xml string. If you know you're going to need the name why not load the name into the parameter server in your launch file?

andymcevoy gravatar imageandymcevoy ( 2017-10-05 23:53:12 -0600 )edit

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answered 2017-10-16 11:41:48 -0600

Hi @muttidrhummer!

I have created a video that answer exactly this question.

Summarizing, this can be accomplished by loading a URDF file, parsing it and calling the getName() method of the C++ Urdf model.

To see how to load and parse a URDF file, you can follow the Parse a urdf file tutorial.

After you create your parser.cpp, before the return 0; you should add

ROS_INFO("The robot name is: %s", model.getName().c_str());

to print the name of the robot on the URDF file, as we can see on the code below:

#include <urdf/model.h>
#include "ros/ros.h"

int main(int argc, char** argv){
  ros::init(argc, argv, "my_parser");
  if (argc != 2){
    ROS_ERROR("Need a urdf file as argument");
    return -1;
  }
  std::string urdf_file = argv[1];

  urdf::Model model;
  if (!model.initFile(urdf_file)){
    ROS_ERROR("Failed to parse urdf file");
    return -1;
  }
  ROS_INFO("Successfully parsed urdf file");
  ROS_INFO("The robot name is: %s", model.getName().c_str());
  return 0;
}

After compile the code and generate the executable called parser following the Parse a urdf file tutorial, you can call it with the path of the URDF file as argument.

Something like: rosrun your_package_name parser /path/to/your/file.urdf

If you still have any doubt, just check the video.

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Thanks, works like a charm.

muttidrhummer gravatar imagemuttidrhummer ( 2017-10-18 04:07:50 -0600 )edit

Perfect

You're Welcome.

Ruben Alves gravatar imageRuben Alves ( 2017-10-18 17:20:26 -0600 )edit

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Asked: 2017-10-03 11:34:58 -0600

Seen: 258 times

Last updated: Oct 16 '17