feat: xacro compilation (#361)

* aip launch fix for XX1 Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * aip_xx1_gen2 example Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * clean up Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * feat(aip_urdf_compiler): significantly improve documentation; add additional script for comparing different xacro files for testing; add optional keywords for frame_id Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix(xx1_des): add frame_id for certain sensors to restore the original look Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix(xx1_gen2_des): add frame_id for certain sensors to restore the original look Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * create a cmake macro to simplify adaptation of other packages Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * xx1_des utilize the new macro Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * xx1_gen2 utilize the new macro Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fixbug Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix debug Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * ci(pre-commit): autofix * add requirement on jinja2 Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * add GNSS type; improve error handling; fix velodyne sensor names Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * added read me documentation, improve the warning and debugging outputs Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * improve documentation Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix grammar Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix cspell Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * unify the name in aip_urdf_compiler to be URDF compile Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix bug Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> --------- Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Dec 27, 2024 · ef46885 · ef46885
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diff --git a/aip_urdf_compiler/CMakeLists.txt b/aip_urdf_compiler/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_urdf_compiler)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+# Install cmake directory
+install(
+  DIRECTORY cmake templates scripts
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Export the package's share directory path
+
+# Add the config extras
+ament_package(
+  CONFIG_EXTRAS "cmake/aip_cmake_urdf_compile.cmake"
+)
diff --git a/aip_urdf_compiler/cmake/aip_cmake_urdf_compile.cmake b/aip_urdf_compiler/cmake/aip_cmake_urdf_compile.cmake
@@ -0,0 +1,33 @@
+
+
+
+macro(aip_cmake_urdf_compile)
+    # Set the correct paths
+    find_package(PythonInterp REQUIRED) # cspell: ignore Interp
+    set(aip_urdf_compiler_BASE_DIR "${aip_urdf_compiler_DIR}/../")
+    set(PYTHON_SCRIPT "${aip_urdf_compiler_BASE_DIR}/scripts/compile_urdf.py")
+    set(PYTHON_TEMPLATE_DIRECTORY "${aip_urdf_compiler_BASE_DIR}/templates")
+    set(PYTHON_CALIBRATION_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/config")
+    set(PYTHON_XACRO_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/urdf")
+
+    message(STATUS "PYTHON_SCRIPT path: ${PYTHON_SCRIPT}")
+    message(STATUS "PYTHON_TEMPLATE_DIRECTORY path: ${PYTHON_TEMPLATE_DIRECTORY}")
+
+    # Verify that the required files exist
+    if(NOT EXISTS "${PYTHON_SCRIPT}")
+        message(FATAL_ERROR "Could not find compile_urdf.py at ${PYTHON_SCRIPT}")
+    endif()
+
+    # Create a custom command to run the Python script
+    add_custom_target(xacro_compilation ALL
+        DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/python_script_run_flag
+    )
+
+    add_custom_command(
+        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/python_script_run_flag
+        COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_SCRIPT} ${PYTHON_TEMPLATE_DIRECTORY} ${PYTHON_CALIBRATION_DIRECTORY} ${PYTHON_XACRO_DIRECTORY} ${PROJECT_NAME}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        DEPENDS ${PYTHON_SCRIPT}
+        COMMENT "Running Python script for URDF creation"
+    )
+endmacro()
diff --git a/aip_urdf_compiler/package.xml b/aip_urdf_compiler/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_urdf_compiler</name>
+  <version>0.1.0</version>
+  <description>The aip_urdf_compiler package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Yuxuan Liu</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <depend>python3-jinja2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_urdf_compiler/readme.md b/aip_urdf_compiler/readme.md
@@ -0,0 +1,142 @@
+# aip_urdf_compiler
+
+## Overview
+
+The aip_urdf_compiler package provides tools for dynamically generating URDF (Unified Robot Description Format) files from configuration files during the build process. It simplifies sensor model management by automatically URDF models from sensor configurations.
+
+## Key Features
+
+- Dynamic URDF generation during colcon build
+- Automated sensor transform processing
+- Support for multiple sensor types and configurations
+
+## Usage
+
+### Package Integration
+
+To use aip_urdf_compiler in your description package:
+
+- Add the dependency in `package.xml`:
+
+  ```xml
+  <depend>aip_urdf_compiler</depend>
+  ```
+
+- Add the following to `CMakeLists.txt`:
+
+  ```cmake
+  find_package(aip_urdf_compiler REQUIRED)
+  aip_cmake_urdf_compile()
+  ```
+
+- Configure your sensors in `config/sensors.yaml` with metadata values (Note: do not need to add meta values in `individual_params`):
+
+  - `type`: Required string, corresponding to the string value from [existing sensors](#existing-sensors)
+  - `frame_id`: Optional string, overwrites the TF frame ID.
+
+- Clean up existing `.xacro` files and add to `.gitignore`:
+
+  ```gitignore
+  # In your URDF folder
+  *.xacro
+  ```
+
+### Existing Sensors
+
+```python
+class LinkType(enum.Enum):
+    """Enum class for the type of the link."""
+
+    CAMERA = "monocular_camera"
+    IMU = "imu"
+    LIVOX = "livox_horizon"
+    PANDAR_40P = "pandar_40p"
+    PANDAR_OT128 = "pandar_ot128"
+    PANDAR_XT32 = "pandar_xt32"
+    PANDAR_QT = "pandar_qt"
+    PANDAR_QT128 = "pandar_qt128"
+    VELODYNE16 = "velodyne_16"
+    VLS128 = "velodyne_128"
+    RADAR = "radar"
+    GNSS = "gnss"
+    JOINT_UNITS = "units"
+```
+
+## Architecture
+
+### Components
+
+1. **aip_urdf_compiler**
+
+   - Main package handling URDF generation
+   - Processes configuration files
+   - Manages build-time compilation
+
+2. **aip_cmake_urdf_compile**
+
+   - CMake macro implementation
+   - Creates build targets
+   - Ensures URDF regeneration on each build
+
+3. **compile_urdf.py**
+   - Configuration parser
+   - Transform processor
+   - URDF generator
+
+### Compilation Process
+
+1. **Configuration Reading**
+
+   - Parses `config/sensors.yaml`
+   - Extracts transformation data
+   - Validates configurations
+
+2. **Transform Processing**
+
+   - Processes each sensor transform
+   - Determines sensor types and frame IDs
+   - Generates appropriate macro strings
+   - Creates `sensors.xacro`
+
+3. **Joint Unit Processing**
+   - Handles joint unit transforms
+   - Processes related YAML files
+   - Generates separate URDF xacro files
+
+## Adding New Sensors
+
+1. Add sensor descriptions (xacro module files) in either:
+
+   - Your target package
+   - `common_sensor_description` package
+
+2. Update the following in `compile_urdf.py`:
+   - `LinkType` enumeration
+   - `link_dict` mapping
+
+## Troubleshooting
+
+### Debug Logs
+
+Check build logs for debugging information:
+
+```bash
+cat $workspace/log/build_<timestamp>/aip_{project}_description/streams.log
+```
+
+### Common Issues
+
+1. Missing sensor definitions
+
+   - Ensure sensor type is defined in `LinkType`
+   - Verify xacro file exists in description package
+
+2. TF Trees errors
+   - Check frame_id values in sensors.yaml
+   - Verify transform chain completeness
+
+## Contributing
+
+1. Follow ROS coding standards
+2. Test URDF generation with various configurations
+3. Update documentation for new features