Merge pull request #520 from gavanderhoorn/fix_yaml_loading

Load yaml files in read_model_data(..), nowhere else
ros-industrial · Jun 30, 2020 · 92cf300 · 92cf300
2 parents 20034f6 + 715f9e2
commit 92cf300
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Showing 3 changed files with 21 additions and 14 deletions.
diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro
@@ -28,12 +28,19 @@
           and as such should be considered to be for internal use only.
   -->
   <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
-    <xacro:property name="__limits" value="${joint_limits_parameters_file['joint_limits']}"/>
-    <xacro:property name="__dh_parameters" value="${physical_parameters_file['dh_parameters']}"/>
-    <xacro:property name="__offsets" value="${physical_parameters_file['offsets']}"/>
-    <xacro:property name="__inertia_parameters" value="${physical_parameters_file['inertia_parameters']}" />
-    <xacro:property name="__mesh_files" value="${visual_parameters_file['mesh_files']}" />
-    <xacro:property name="__kinematics" value="${kinematics_parameters_file['kinematics']}" />
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name="__joint_limit_parameters" value="${load_yaml(joint_limits_parameters_file)}"/>
+    <xacro:property name="__kinematics_parameters" value="${load_yaml(kinematics_parameters_file)}"/>
+    <xacro:property name="__physical_parameters" value="${load_yaml(physical_parameters_file)}"/>
+    <xacro:property name="__visual_parameters" value="${load_yaml(visual_parameters_file)}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name="__limits" value="${__joint_limit_parameters['joint_limits']}"/>
+    <xacro:property name="__dh_parameters" value="${__physical_parameters['dh_parameters']}"/>
+    <xacro:property name="__offsets" value="${__physical_parameters['offsets']}"/>
+    <xacro:property name="__inertia_parameters" value="${__physical_parameters['inertia_parameters']}" />
+    <xacro:property name="__mesh_files" value="${__visual_parameters['mesh_files']}" />
+    <xacro:property name="__kinematics" value="${__kinematics_parameters['kinematics']}" />
 
     <!-- JOINTS LIMIT PARAMETERS -->
     <xacro:property name="shoulder_pan_lower_limit" value="${__limits['shoulder_pan']['min_position']}" scope="parent"/>

diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
@@ -22,10 +22,10 @@
    <!-- arm -->
    <xacro:ur_robot
      prefix=""
-     joint_limits_parameters_file="${load_yaml('$(arg joint_limit_params)')}"
-     kinematics_parameters_file="${load_yaml('$(arg kinematics_params)')}"
-     physical_parameters_file="${load_yaml('$(arg physical_params)')}"
-     visual_parameters_file="${load_yaml('$(arg visual_params)')}"
+     joint_limits_parameters_file="$(arg joint_limit_params)"
+     kinematics_parameters_file="$(arg kinematics_params)"
+     physical_parameters_file="$(arg physical_params)"
+     visual_parameters_file="$(arg visual_params)"
      transmission_hw_interface="$(arg transmission_hw_interface)"
      safety_limits="$(arg safety_limits)"
      safety_pos_margin="$(arg safety_pos_margin)"

diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro
@@ -17,10 +17,10 @@
    <xacro:include filename="$(find ur_gazebo)/urdf/common.gazebo.xacro"/>
 
    <!-- arm -->
-   <xacro:ur_gazebo_robot prefix="" joint_limits_parameters_file="${load_yaml('$(arg joint_limit_params)')}" 
-                             kinematics_parameters_file="${load_yaml('$(arg kinematics_params)')}" 
-                             physical_parameters_file="${load_yaml('$(arg physical_params)')}" 
-                             visual_parameters_file="${load_yaml('$(arg visual_params)')}"
+   <xacro:ur_gazebo_robot prefix="" joint_limits_parameters_file="$(arg joint_limit_params)" 
+                             kinematics_parameters_file="$(arg kinematics_params)" 
+                             physical_parameters_file="$(arg physical_params)" 
+                             visual_parameters_file="$(arg visual_params)"
                              transmission_hw_interface="$(arg transmission_hw_interface)"
                              safety_limits="$(arg safety_limits)"
                              safety_pos_margin="$(arg safety_pos_margin)"