Use file's md5sum for compressed urdf

iory · Dec 10, 2024 · aa556d6 · aa556d6
1 parent 1100376
commit aa556d6
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/ros/kxr_models/node_scripts/urdf_model_server.py b/ros/kxr_models/node_scripts/urdf_model_server.py
@@ -43,12 +43,13 @@ def run(self):
                 temp_file.write(urdf)
                 urdf_path = temp_file.name
 
-            md5sum = checksum_md5(urdf_path)
+            urdf_md5sum = checksum_md5(urdf_path)
             compressed_urdf_path = os.path.join(
-                kxr_models_path, "models", "urdf", f"{md5sum}.tar.gz"
+                kxr_models_path, "models", "urdf", f"{urdf_md5sum}.tar.gz"
             )
 
             if os.path.exists(compressed_urdf_path):
+                md5sum = checksum_md5(compressed_urdf_path)
                 self._update_robot_description(urdf_path, md5sum, kxr_models_path)
                 continue
 
@@ -60,6 +61,7 @@ def run(self):
                     compress=True,
                 )
                 rospy.loginfo(f"Compressed URDF model saved to {compressed_urdf_path}")
+                md5sum = checksum_md5(compressed_urdf_path)
                 self._update_robot_description(urdf_path, md5sum, kxr_models_path)
 
             os.remove(urdf_path)