Merge pull request #104 from nakane11/urdf_path

Allow empty urdf_path
iory · Nov 3, 2024 · 5293ac9 · 5293ac9
2 parents d2f6a3f + eeb8a8f
commit 5293ac9
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/ros/kxr_controller/launch/kxr_controller.launch b/ros/kxr_controller/launch/kxr_controller.launch
@@ -37,8 +37,9 @@
           output="screen"
           required="true" >
       <param name="device" type="str" value="$(arg device)" />
+      <param name="urdf_path" type="str" value="$(arg urdf_path)"
+             if="$(eval len(arg('urdf_path')) > 0)"/>
       <rosparam subst_value="true" >
-        urdf_path: $(arg urdf_path)
         servo_config_path: $(arg servo_config_path)
         publish_imu: $(arg publish_imu)
         publish_sensor: $(arg publish_sensor)
@@ -76,8 +77,9 @@
           output="screen"
           required="true" >
       <param name="device" type="str" value="$(arg device)" />
+      <param name="urdf_path" type="str" value="$(arg urdf_path)"
+             if="$(eval len(arg('urdf_path')) > 0)"/>
       <rosparam subst_value="true" >
-        urdf_path: $(arg urdf_path)
         servo_config_path: $(arg servo_config_path)
         publish_imu: $(arg publish_imu)
         publish_sensor: $(arg publish_sensor)

diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -184,6 +184,7 @@ def setup_paths_and_params(self):
 
     def setup_urdf_and_model(self):
         robot_model = RobotModel()
+        rospy.loginfo(f"[setup_urdf_and_model] Loading URDF File. {self.urdf_path}")
         if self.urdf_path is None:
             self.urdf_path = make_urdf_file(self.joint_name_to_id)
             rospy.loginfo("Use temporary URDF")