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[panda_eus] Skip generating dual_panda.l when franka_description or xacro is old to avoid build failure #1751

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merged 2 commits into from
Dec 13, 2022
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[panda_eus] Skip generating dual_panda.l when franka_description or xacro is old to avoid build failure #1751

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889d319
[panda_eus] Skip generating dual_panda.l when franka_description is o…
pazeshun Dec 4, 2022
69679f0
[panda_eus] Check xacro version explicitly
pazeshun Dec 6, 2022
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19 changes: 14 additions & 5 deletions jsk_panda_robot/panda_eus/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,15 +13,22 @@ catkin_package()
###
### dual_panda.l generation
###
if(franka_description_FOUND AND (NOT ("$ENV{ROS_DISTRO}" STRLESS "melodic")))
# xacro.load_yaml cannot be recognized under melodic, while it is recommended on melodic and upper.
# PR introducing xacro.load_yaml: https://github.com/ros/xacro/pull/283
# Related issue: https://github.com/ros/xacro/issues/298
set(_franka_description_min_ver "0.10.0")
set(_xacro_min_ver "1.13.14")
if(franka_description_FOUND
AND (NOT ("${franka_description_VERSION}" VERSION_LESS "${_franka_description_min_ver}"))
AND (NOT ("${xacro_VERSION}" VERSION_LESS "${_xacro_min_ver}")))
# Why franka_description >= 0.10.0:
# dual_panda.urdf.xacro assumes file structure of franka_description >= 0.10.0.
# See https://github.com/frankaemika/franka_ros/compare/0.9.1...0.10.0 for details.
# Why xacro >= 1.13.14:
# xacro.load_yaml cannot be recognized when xacro < 1.13.14, while it is recommended when xacro >= 1.13.14.
# PR introducing xacro.load_yaml: https://github.com/ros/xacro/pull/283
# Related issue: https://github.com/ros/xacro/issues/298
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/dual_panda.l
COMMAND rosrun euscollada collada2eus -I dual_panda.urdf -C dual_panda.yaml -O dual_panda.l
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/models
DEPENDS ${PROJECT_SOURCE_DIR}/models/dual_panda.urdf ${PROJECT_SOURCE_DIR}/models/dual_panda.yaml)

add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/dual_panda.urdf
COMMAND rosrun xacro xacro --inorder dual_panda.urdf.xacro > dual_panda.urdf
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/models
Expand All @@ -30,6 +37,8 @@ if(franka_description_FOUND AND (NOT ("$ENV{ROS_DISTRO}" STRLESS "melodic")))
add_custom_target(generate_panda_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/dual_panda.l)
else()
message(WARNING "Dependency is not met, so skip generating dual_panda.l")
message(WARNING "franka_description version: ${franka_description_VERSION}, must be >= ${_franka_description_min_ver}")
message(WARNING "xacro version: ${xacro_VERSION}, must be >= ${_xacro_min_ver}")
endif()


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