feat: Added a new command to receive the URDF model of the robot

CMakeLists.txt

@@ -119,7 +119,6 @@ endif()
 
 target_include_directories(franka PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
   $<INSTALL_INTERFACE:include>
 )
 
@@ -173,13 +172,6 @@ install(EXPORT FrankaTargets
   DESTINATION ${INSTALL_CMAKE_CONFIG_DIR}
 )
 
-set(ROBOT_MODELS_PATH ${CMAKE_INSTALL_PREFIX}/share/robot_models)
-configure_file(cmake/config.h.in config.h)
-
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/robot_models
-        DESTINATION share
-)
-
 ## Subprojects
 
 # Ignore find_package(Franka) in subprojects.

include/franka/commands/get_robot_model_command.hpp

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <string>
+
+namespace franka {
+
+struct GetRobotModelResult {
+  std::string robot_model_urdf;
+};
+
+}  // namespace franka

include/franka/model.h

@@ -5,7 +5,6 @@
 #include <array>
 #include <memory>
 
-#include <config.h>
 #include <franka/robot.h>
 #include <franka/robot_model_base.h>
 #include <franka/robot_state.h>
@@ -63,7 +62,7 @@ class Model {
    *
    * @throw ModelException if the model library cannot be loaded.
    */
-  explicit Model(franka::Network& network);
+  explicit Model(franka::Network& network, const std::string& urdf_model);
 
   /**
    * Creates a new Model instance only for the tests.
@@ -299,7 +298,6 @@ class Model {
  private:
   std::unique_ptr<ModelLibrary> library_;
   std::unique_ptr<RobotModelBase> robot_model_;
-  std::string k_urdf_path_ = std::string(ROBOT_MODELS_PATH) + "/fr3.urdf";
 };
 
 }  // namespace franka

include/franka/robot.h

@@ -13,6 +13,7 @@
 #include <franka/robot_model_base.h>
 #include <franka/robot_state.h>
 #include <research_interface/robot/service_types.h>
+#include <franka/commands/get_robot_model_command.hpp>
 
 /**
  * @file robot.h
@@ -455,6 +456,14 @@ class Robot {
    * @{
    */
 
+  /**
+   * @throw CommandException if the Control reports an error.
+   * @throw NetworkException if the connection is lost, e.g. after a timeout.
+   *
+   * @return std::string Provides the URDF model of the attached robot arm as json string
+   */
+  auto getRobotModel() -> std::string;
+
   /**
    * Changes the collision behavior.
    *

include/franka/robot_model.h

@@ -11,6 +11,8 @@
 
 #include "franka/robot_model_base.h"
 
+namespace franka {
+
 /**
  * Implements RobotModelBase using Pinocchio.
  */
@@ -57,4 +59,6 @@ class RobotModel : public RobotModelBase {
   pinocchio::Inertia initial_last_link_inertia_;
   pinocchio::FrameIndex last_link_frame_index_;
   pinocchio::JointIndex last_joint_index_;
-};
+};
+
+}  // namespace franka

src/model.cpp

@@ -14,20 +14,6 @@
 #include "model_library.h"
 #include "network.h"
 
-std::string readURDFFromFile(const std::string& filename) {
-  std::ifstream file(filename);
-  if (!file.is_open()) {
-    std::cerr << "Error opening file: " << filename << std::endl;
-    return "";
-  }
-
-  std::ostringstream oss;
-  oss << file.rdbuf();
-  file.close();
-
-  return oss.str();
-}
-
 using namespace std::string_literals;  // NOLINT(google-build-using-namespace)
 
 namespace franka {
@@ -38,10 +24,9 @@ Frame operator++(Frame& frame, int /* dummy */) noexcept {
   return original;
 }
 
-Model::Model(Network& network) : library_{new ModelLibrary(network)} {
-  // TODO(baris) workaround for now, get the robot specific urdf from the robot in the future
-  auto urdf_string = readURDFFromFile(k_urdf_path_);
-  robot_model_ = std::make_unique<RobotModel>(urdf_string);
+Model::Model(Network& network, const std::string& urdf_model)
+    : library_{new ModelLibrary(network)} {
+  robot_model_ = std::make_unique<RobotModel>(urdf_model);
 }
 
 // for the tests