resolve-robotics-uri-cpp

Pure C++ library (that only depends on C++ standard library) to resolve a package:// (ROS-style) or model:// (Gazebo-style) URI to an absolute filename.

Installation

The resolve-robotics-uri-cpp is composed by a single sellf-contained header, ResolveRoboticsURICpp.h. You can directly use the header in your project, or install the library using one method described in the following.

Installation via FetchContent

include(FetchContent)
FetchContent_Declare(
  ResolveRoboticsURICpp
  GIT_REPOSITORY https://github.com/ami-iit/resolve-robotics-uri-cpp
  GIT_TAG        v0.0.1 # Or change this to use another release or tag
)
FetchContent_MakeAvailable(ResolveRoboticsURICpp)

# Use the provided target
target_link_libraries(<...> PRIVATE ResolveRoboticsURICpp::ResolveRoboticsURICpp)

Install from source and find the CMake package in your project

git clone https://github.com/ami-iit/resolve-robotics-uri-cpp
cd resolve-robotics-uri-cpp
cmake -S. -Bbuild -DCMAKE_INSTALL_PREFIX=./build/install -DCMAKE_BUILD_TYPE=Release .
cmake --build build
cmake --install build
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:`pwd`/build/install

Then in your project:

find_package(ResolveRoboticsURICpp REQUIRED)

# Use the provided target 
target_link_libraries(<...> PRIVATE ResolveRoboticsURICpp::ResolveRoboticsURICpp)

Usage in C++

Add #include <ResolveRoboticsURICpp.h> to your C++ file, then take inspiration from the following examples.

If you want to get the location of the iCubGazeboV2_7 iCub model installed from icub-models:

std::optional<std::string> absolute_path = ResolveRoboticsURICpp::resolveRoboticsURI("package://iCub/robots/iCubGazeboV2_7/model.urdf")

If you want to get the location of the ergoCubSN00 model installed from ergocub-software:

std::optional<std::string> absolute_path = ResolveRoboticsURICpp::resolveRoboticsURI("package://ergoCub/robots/ergoCubSN000/model.urdf")

If you want to get the location of the panda model installed by moveit_resources_panda_description:

std::optional<std::string> absolute_path = ResolveRoboticsURICpp::resolveRoboticsURI("package://moveit_resources_panda_description/urdf/panda.urdf")

Command Line usage

resolve-robotics-uri-cpp also install a command line tool called resolve-robotics-uri-cpp for use in scripts, that can be used as:

resolve-robotics-uri-cpp package://iCub/robots/iCubGazeboV2_7/model.urdf

For example, on bash this can be used to easily convert the a urdf specified via package:// to an sdf (assuming you have Gazebo installed), using the backtick operator:

gz sdf -p `resolve-robotics-uri-cpp package://iCub/robots/iCubGazeboV2_7/model.urdf`

Python version

A package implementing the same logic in pure Python is available at https://github.com/ami-iit/resolve-robotics-uri-py .

Contributing

To simplify setting up the development environment of the project, this repo uses pixi.

In particular, to run the unit tests of the project you can just:

git clone https://github.com/ami-iit/resolve-robotics-uri-cpp
cd resolve-robotics-uri-cpp
pixi run test

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Please make sure to update tests as appropriate.

License

BSD-3-Clause