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I have followed the rosparam tutorial. But it dosent show how to load a xml/urdf file as a rosparam. Specifically, I want to set "robot_description" parameter from a c++ ros node not from a launch file.
Update:
Finally, this is how im doing it. You just need to read urdf file as a text file and store its content in a string and then set the string as a parameter
// Parse the urdf/xml file
std::string urdf_file_name = "/home/.../urdf_file_name.urdf"
std::ifstream f(urdf_file_name);
std::stringstream ss;
ss << f.rdbuf();
// Set param
nh.setParam("robot_description", ss.str());
@vacky11 Could you please mention what is asset_urdf? Thanks.
@NiranjanDeshpande it is the urdf file name that needs to be set as a ros parameter. I will update my answer so that its intuitive
@vacky11 I code it like that. Then I use the rdf_loader for initalization of my robot_model object and it give me an error. Error document empty. Unable to parse URDF. The class http://docs.ros.org/jade/api/moveit_r...
https://answers.ros.org/question/2931... There is a part of my code.
@JonasG I just changed the third-last line in your code to rdf_loader::RDFLoader robot_model(su.str(), ss.str()); and edited the path of urdf and srdf file. And the code works well. Make sure there arent any typos in the path of your urdf and srdf file. I think thats where the problem is.
rospy parameter API:
http://wiki.ros.org/rospy/Overview/Pa...
roscpp parameter API:
http://wiki.ros.org/roscpp/Overview/P...
rospy example (note, I have not tried running this code):
import rospy
rospy.init_node('my_node_name')
# Open .urdf and save contents as str
urdf_filename = "robot.urdf"
urdf_string = None
with open(urdf_filename) as urdf_file:
urdf_string = urdf_file.read()
# Load urdf_string onto parameter server
if urdf_string is not None:
rospy.set_param('robot_description', urdf_filename)
# Check
if not rospy.has_param('robot_description'):
rospy.login("Cannot find 'robot_description' on parameter server")
else:
urdf_string_param = rospy.get_param('robot_description')
rospy.login(urdf_string_param )
@josephcoombe Thanks for your answer but Im looking for c++ implementation. Can you please give me a example for the same in c++?
@vacky11 I've updated my answer with a link to the roscpp equivalent.
Asked: 2018-02-01 10:12:44 -0500
Seen: 2,064 times
Last updated: Jun 04 '18
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How about using a launch file?
I have mentioned it clearly in the question that I am not looking to set the parameter from a launch file. It is not suitable for my purpose.
Yeah, guess I missed that. Why not?
The reason is that I get the 'robot_name' from a rostopic inside the ros node and then I need to load the appropriate urdf file as parameter:"robot_description", depending on the robot_name