feat: xacro compilation

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"
+)

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_xacro.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_xacro.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()

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>