Comments (12)
+1 for separate repo
from urdfdom.
should I move it to robot_model or make a new repo entirely for urdf_parser_py?
from urdfdom.
I would move it to a new urdf_parser_py
from urdfdom.
Distributing urdf_parser_py
only as a ROS (Catkin) package would make much more difficult to use urdf_parser_py
in Windows.
To clarify our use case: mechanical people use Windows (because most CAD modeling software is available on Windows), and then they export their CAD model to URDF using https://github.com/robotology/simmechanics-to-urdf (that clearly does not use from_parameter_server
).
Unfortunately it appears that the from_parameter_server
method is quite used, so moving urdf_parser_py
to a ROS package is the right thing to do.
I would probably need to maintain a fork of urdf_parser_py
that does not use Catkin, and keep it in synch with the urdf_parser_py
ROS package.
cc @fiorisi
from urdfdom.
@traversaro I'll keep cross-platform compatibility in mind when I do this.
from urdfdom.
@jacquelinekay I noticed that catkin is also distributed through pip, so perhaps it is not so traumatic to install it on Windows.
from urdfdom.
Windows development is usually traumatic for me :P
from urdfdom.
With regards to your concerns, Silvio, my vision is for urdf_parser_py to be cross-platform and ROS-free, and to have a separate catkin package in the robot_model
repo to wrap the module with ROS-specific utilities, like communicating with the parameter server. I'm going to start by just separating it out into a different repo (and possibly doing a release).
I confirmed with Ioan that urdf_parser_py is only released as a ROS package right now, but it sounds like your team does your own packaging to use it on Windows, is that correct?
from urdfdom.
Yes, we use it by installing through the (pure, non-catkin) CMake code in this repo.
Thanks, what you just proposed is ideal.
from urdfdom.
For the sake of precision: I actually noticed that we install the urdf_parser_py
script using the classical python setup.py install
, see https://github.com/robotology/simmechanics-to-urdf#install-dependencies-2 .
from urdfdom.
#80
https://github.com/ros/urdf_parser_py
ros/urdf_parser_py#1
todo:
- Set up Travis for new repo
- properly set up ROS Wiki pages for respective packages
from urdfdom.
As a side note, why is the ROS deb called urdfdom-py
while the package is called urdf_parser_py
in github and in the setup.py? I prefer the name urdf_parser_py
myself, but I guess it's more important not to disrupt the configuration of many users by change the name of the debian.
from urdfdom.
Related Issues (20)
- Invalid path in urdfdom_INCLUDE_DIRS on Windows installation using vcpkg
- Using wrong headers HOT 2
- Deprecation warning on urdfdom_parser with Clang HOT 2
- check_urdf: no loop detection
- Branch urdfdom for Galactic HOT 5
- Usage of `version` attribute in `robot` xml-node HOT 2
- [cmake] urdf_LIBRARIES is still wrong HOT 2
- Feature request: check_urdf should be able to read from std_in HOT 2
- parseJointLimits() does not parse acceleration limits
- Joint limits (vel, effort) are checked even when the joint is continuous type.
- Build Status link in README.md is broken HOT 2
- Use tinyxml2 instead of tinyxml HOT 3
- Remove tinyxml2 from public API HOT 2
- Cannot parse capsule error HOT 1
- Fixed joints parse limits but not axis
- Add support for quaternion in URDF HOT 3
- Removing console_bridge for Logging HOT 4
- support export URDF HOT 1
- Don't use (outdated) self-provided gtest version (especially if another version is installed already) HOT 7
- libtinyxml absolute path in the cmake export target files HOT 1
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