From 02f0416b90b77337c546cae423ccab90a2e9adb6 Mon Sep 17 00:00:00 2001
From: marvin <marvin@marvin-TERRA-MOBILE-1529H>
Date: Tue, 3 Mar 2020 04:58:41 +0100
Subject: [PATCH] Adapter edits <xacro:include> tag in .urdf.xacro;
Output as bot.urdf.xacro
---
build/sim/bot.urdf.xacro | 205 ++++++++++++++++++
build/sim/botname.txt | 2 +-
.../FeatureModelConfigurator/adapter.config | 17 +-
.../configs/config.xml | 16 --
.../FeatureModelConfigurator/configs/test.xml | 9 +-
.../features/ConfiguratorMain/Adapter.java | 86 ++++++--
.../features/ConfiguratorMain/XMLHelper.java | 155 ++++++++++++-
.../Configurator.jak | 2 +-
.../Configurator.jak | 9 +
.../Configurator.jak | 2 +-
.../Configurator.jak | 2 +-
.../Configurator.jak | 2 +-
src/var/FeatureModelConfigurator/model.xml | 9 +-
.../resources/output/featuremodel.xml | 2 +-
.../FeatureModelConfigurator/src/Adapter.java | 86 ++++++--
.../src/Configurator.jak | 8 +-
.../src/Configurator.java | 6 +-
.../src/XMLHelper.java | 155 ++++++++++++-
.../modelsetup.config | 2 +-
.../src/Adapter.java | 86 ++++++--
.../src/ModelSetup.java | 26 +--
.../src/XMLHelper.java | 155 ++++++++++++-
22 files changed, 919 insertions(+), 123 deletions(-)
create mode 100644 build/sim/bot.urdf.xacro
delete mode 100644 src/var/FeatureModelConfigurator/configs/config.xml
rename src/var/FeatureModelConfigurator/features/{WafflePi => turtlebot3_burger}/Configurator.jak (69%)
create mode 100644 src/var/FeatureModelConfigurator/features/turtlebot3_burger_for_autorace/Configurator.jak
rename src/var/FeatureModelConfigurator/features/{Waffle => turtlebot3_burgertest1}/Configurator.jak (67%)
rename src/var/FeatureModelConfigurator/features/{Burger => turtlebot3_waffle}/Configurator.jak (69%)
rename src/var/FeatureModelConfigurator/features/{BurgerForAutorace => turtlebot3_waffle_pi}/Configurator.jak (67%)
diff --git a/build/sim/bot.urdf.xacro b/build/sim/bot.urdf.xacro
new file mode 100644
index 0000000..0e9289f
--- /dev/null
+++ b/build/sim/bot.urdf.xacro
@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" />
+ <xacro:include filename="$(find sim)/bot.gazebo.xacro" />
+ <xacro:property name="r200_cam_rgb_px" value="0.005" />
+ <xacro:property name="r200_cam_rgb_py" value="0.018" />
+ <xacro:property name="r200_cam_rgb_pz" value="0.013" />
+ <xacro:property name="r200_cam_depth_offset" value="0.01" />
+ <link name="base_footprint" />
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint" />
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0" />
+ </joint>
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001" />
+ </geometry>
+ <material name="light_black" />
+ </visual>
+ <collision>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0" />
+ <geometry>
+ <box size="0.266 0.266 0.094" />
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <mass value="1.3729096e+00" />
+ <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04" iyy="8.6195418e-03" iyz="-3.5422299e-06" izz="1.4612727e-02" />
+ </inertial>
+ </link>
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link" />
+ <child link="wheel_left_link" />
+ <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0" />
+ <axis xyz="0 0 1" />
+ </joint>
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001" />
+ </geometry>
+ <material name="dark" />
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.018" radius="0.033" />
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+ </inertial>
+ </link>
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link" />
+ <child link="wheel_right_link" />
+ <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0" />
+ <axis xyz="0 0 1" />
+ </joint>
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001" />
+ </geometry>
+ <material name="dark" />
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.018" radius="0.033" />
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+ </inertial>
+ </link>
+ <joint name="caster_back_right_joint" type="fixed">
+ <parent link="base_link" />
+ <child link="caster_back_right_link" />
+ <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0" />
+ </joint>
+ <link name="caster_back_right_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.030 0.009 0.020" />
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+ <joint name="caster_back_left_joint" type="fixed">
+ <parent link="base_link" />
+ <child link="caster_back_left_link" />
+ <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0" />
+ </joint>
+ <link name="caster_back_left_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.030 0.009 0.020" />
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link" />
+ <child link="imu_link" />
+ <origin xyz="0.0 0 0.068" rpy="0 0 0" />
+ </joint>
+ <link name="imu_link" />
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link" />
+ <child link="base_scan" />
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0" />
+ </joint>
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" />
+ </geometry>
+ <material name="dark" />
+ </visual>
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.0315" radius="0.055" />
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.064 -0.065 0.094" rpy="0 0 0" />
+ <parent link="base_link" />
+ <child link="camera_link" />
+ </joint>
+ <link name="camera_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 1.57" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0.003 0.065 0.007" rpy="0 0 0" />
+ <geometry>
+ <box size="0.012 0.132 0.020" />
+ </geometry>
+ </collision>
+ <!-- This inertial field needs doesn't contain reliable data!! -->
+ <!-- <inertial>
+ <mass value="0.564" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+ iyy="0.000498940" iyz="0.0"
+ izz="0.003879257" />
+ </inertial>-->
+ </link>
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0" />
+ <parent link="camera_link" />
+ <child link="camera_rgb_frame" />
+ </joint>
+ <link name="camera_rgb_frame" />
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57" />
+ <parent link="camera_rgb_frame" />
+ <child link="camera_rgb_optical_frame" />
+ </joint>
+ <link name="camera_rgb_optical_frame" />
+ <joint name="camera_depth_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0" />
+ <parent link="camera_link" />
+ <child link="camera_depth_frame" />
+ </joint>
+ <link name="camera_depth_frame" />
+ <joint name="camera_depth_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57" />
+ <parent link="camera_depth_frame" />
+ <child link="camera_depth_optical_frame" />
+ </joint>
+ <link name="camera_depth_optical_frame" />
+</robot>
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 82270b4..b49bf69 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-Waffle
\ No newline at end of file
+turtlebot3_waffle
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/adapter.config b/src/var/FeatureModelConfigurator/adapter.config
index f0a7150..bc1d245 100644
--- a/src/var/FeatureModelConfigurator/adapter.config
+++ b/src/var/FeatureModelConfigurator/adapter.config
@@ -8,20 +8,13 @@
<!-- Path to all available sensor configuration files. -->
<!-- Files with other endings are allowed and will be ignored, unless this path is also used by ModelSetup (see ModelSetup) -->
<sensorconfig type="directory" path="./resources/input/sensorconfig/" />
- <!-- Path to all available .gazebo.xacro files. -->
+ <!-- Path to all available .gazebo.xacro/ .urdf.xacro files. -->
<!-- Files with other endings are allowed and will be ignored. -->
- <gazebomodel type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/" />
- <!-- <gazebomodel type="directory" path="./resources/input/bot_description/" /> -->
- <!-- Path to all available .urdf.xacro files. -->
- <!-- Files with other endings are allowed and will be ignored. -->
- <urdfmodel type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/" />
+ <bot_description type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/" />
</input>
<output>
- <!-- Path to and name of the generated .gazebo.xacro file. -->
- <gazebomodel type="file" name="bot.gazebo.xacro" path="./../../../build/sim/" />
- <!-- Path to and name of the generated .urdf.xacro file. -->
- <urdfmodel type="file" name="bot.urdf.xacro" path="./../../../build/sim/" />
- <!-- Path to and name of the file stating the selected bots name. -->
- <botname type="file" name="botname.txt" path="./../../../build/sim/" />
+ <!-- Path to and name of the generated .gazebo.xacro/ .urdf.xacro/ file stating the selected bots name. -->
+ <bot_description type="file" gazebo_xacro="bot.gazebo.xacro" urdf_xacro="bot.urdf.xacro" botname="botname.txt" path="./../../../build/sim/" />
+ <botname /><!-- TODO -->
</output>
</adapter>
diff --git a/src/var/FeatureModelConfigurator/configs/config.xml b/src/var/FeatureModelConfigurator/configs/config.xml
deleted file mode 100644
index 139abd4..0000000
--- a/src/var/FeatureModelConfigurator/configs/config.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<configuration>
- <feature automatic="selected" name="ConfiguratorMain"/>
- <feature automatic="selected" name="Templates"/>
- <feature automatic="unselected" name="Burger"/>
- <feature automatic="unselected" name="BurgerForAutorace"/>
- <feature automatic="unselected" name="Waffle"/>
- <feature manual="selected" name="WafflePi"/>
- <feature automatic="selected" name="Sensors"/>
- <feature automatic="unselected" name="NO_CHANGE"/>
- <feature manual="selected" name="Custom"/>
- <feature name="Pi_Camera"/>
- <feature name="imu"/>
- <feature name="lds_lfcd_sensor"/>
- <feature name="realsense_R200"/>
-</configuration>
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
index 553cef5..2346818 100644
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ b/src/var/FeatureModelConfigurator/configs/test.xml
@@ -2,10 +2,11 @@
<configuration>
<feature automatic="selected" name="ConfiguratorMain"/>
<feature automatic="selected" name="Templates"/>
- <feature automatic="unselected" name="Burger"/>
- <feature automatic="unselected" name="BurgerForAutorace"/>
- <feature manual="selected" name="Waffle"/>
- <feature automatic="unselected" name="WafflePi"/>
+ <feature automatic="unselected" name="turtlebot3_burger"/>
+ <feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
+ <feature automatic="unselected" name="turtlebot3_burgertest1"/>
+ <feature manual="selected" name="turtlebot3_waffle"/>
+ <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
<feature automatic="selected" name="Sensors"/>
<feature manual="selected" name="NO_CHANGE"/>
<feature automatic="unselected" name="Custom"/>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
index e4e3580..106cffe 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
@@ -6,8 +6,8 @@ import org.jdom2.*;
/**
- * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given ROS/ Gazebo .gazebo.xacro file.
- * The .gazebo.xacro file is modified to support the features specified in the featuremodel.xml file.
+ * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given .gazebo.xacro and urdf.xacro file.
+ * The .gazebo.xacro and .urdf.xacro files are modified to support the features specified in the featuremodel.xml file.
*/
public class Adapter extends XMLHelper {
@@ -32,29 +32,33 @@ public class Adapter extends XMLHelper {
/**
* Call this to run Adapter.
*/
+ //public static void main(String[] args) {
public Adapter() {
System.out.println("Adapter started.");
try {
final String SC_ENDING = ".xml";
- final String GM_ENDING = ".gazebo.xacro";
+ final String GX_ENDING = ".gazebo.xacro";
+ final String UX_ENDING = ".urdf.xacro";
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gmPath = getConfigVal(adapterConfig, "input/gazebomodel", "path");
- String out_gmPath = getConfigVal(adapterConfig, "output/gazebomodel", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
+ String in_descPath = getConfigVal(adapterConfig, "input/bot_description", "path");
+ String out_descPath = getConfigVal(adapterConfig, "output/bot_description", "path");
String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gmName = "";
- String out_gmName = getConfigVal(adapterConfig, "output/gazebomodel", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String in_gxName = "";
+ String in_uxName = "";
+ String out_gxName = getConfigVal(adapterConfig, "output/bot_description", "gazebo_xacro");
+ String out_uxName = getConfigVal(adapterConfig, "output/bot_description", "urdf_xacro");
+ String out_bnName = getConfigVal(adapterConfig, "output/bot_description", "botname");
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
+ Document urdfModel = null;
//Get the selected mode (either NO_CHANGE or Custom) as String.
String mode = "";
@@ -106,19 +110,34 @@ public class Adapter extends XMLHelper {
System.exit(-1);
}
- in_gmName = botName+GM_ENDING;
+ in_gxName = botName+GX_ENDING;
- List<String> gmList = getFileNames(in_gmPath);
+ List<String> gxList = getFileNames(in_descPath);
boolean inDirectory = false;
- for(String fileName : gmList) {
- if(fileName.equals(in_gmName)) inDirectory = true;
+ for(String fileName : gxList) {
+ if(fileName.equals(in_gxName)) inDirectory = true;
}
if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No input file known.");
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
System.exit(-1);
}
- gazeboModel = readXml(in_gmPath+in_gmName);
+ gazeboModel = readXml(in_descPath+in_gxName);
+
+ //Get the corresponding .urdf.xacro file as Document.
+ in_uxName = botName+UX_ENDING;
+
+ List<String> urdfList = getFileNames(in_descPath);
+ inDirectory = false;
+ for(String fileName : urdfList) {
+ if(fileName.equals(in_uxName)) inDirectory = true;
+ }
+ if(!inDirectory) {
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+UX_ENDING+"\' input file known.");
+ System.exit(-1);
+ }
+
+ urdfModel = readXml(in_descPath+in_uxName);
//###############################################
@@ -136,7 +155,7 @@ public class Adapter extends XMLHelper {
entry.detach();
}
else {
- System.out.println("Found a <sensor> element in \'"+in_gmName+
+ System.out.println("Found a <sensor> element in \'"+in_gxName+
"\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
}
}
@@ -173,10 +192,41 @@ public class Adapter extends XMLHelper {
//###############################################
+ //######### Operate on .urdf.xacro ############
+ final Namespace ns = urdfModel.getRootElement().getNamespace("xacro");
+
+ //Set <xacro:include> tags
+ List<Element> includeList = xQueryElements(urdfModel, "//xacro:include", ns);
+ if(includeList.size()!=2) {
+ System.err.println("Invalid input in \'"+in_uxName+"\': Expected exactly 2 xacro:include tags.");
+ System.exit(-1);
+ }
+ String destDirectoryName = (new File(out_descPath)).getName();
+ //includeList.get(0).setAttribute("filename", "$(find "+destDirectoryName+")/common_properties.xacro");//TODO
+ includeList.get(1).setAttribute("filename", "$(find "+destDirectoryName+")/"+out_gxName);
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //TODO
+ //If the urdf.xacro would be modified (to have an accurate visual model with the sensors attached to it),
+ //this needs to happen here. (Delete or Insert <link>/ <joint> tags.)
+ //This would require separate files with <link>/ <joint> tags for each bot for the Adapter to access...
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+ //###############################################
+
+
//######### Output result #######################
- saveAsXml(gazeboModel, out_gmPath+out_gmName);
+ saveAsXml(gazeboModel, out_descPath+out_gxName);
+
+ saveAsXml(urdfModel, out_descPath+out_uxName);
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_descPath+out_bnName));
bufferedWriter.write(botName);
bufferedWriter.close();
//###############################################
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
index 30d0f3b..3a1030b 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
@@ -57,13 +57,32 @@ public class XMLHelper {
File directory = new File(path);
File[] contentList = directory.listFiles();
- for (File file : contentList) {
- if (file.isFile()) fileNames.add(file.getName());
+ for (File elem : contentList) {
+ if (elem.isFile()) fileNames.add(elem.getName());
}
return fileNames;
}
+ /**
+ * Takes a given directory path and lists all directories directly in it.
+ * (Does not visit sub-directories recursively)
+ *
+ * @param path Path to the directory
+ * @return ArrayList with all directory names
+ */
+ public static ArrayList<String> getDirectoryNames(String path) {
+ ArrayList<String> directoryNames = new ArrayList<String>();
+ File directory = new File(path);
+ File[] contentList = directory.listFiles();
+
+ for (File elem : contentList) {
+ if (elem.isDirectory()) directoryNames.add(elem.getName());
+ }
+
+ return directoryNames;
+ }
+
/**
* Executes given XPath expression for elements with JDOM Document as source.
*
@@ -79,6 +98,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for elements with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -95,6 +131,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with JDOM Document as source.
*
@@ -110,6 +164,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -126,6 +197,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with JDOM Document as source.
*
@@ -141,6 +230,23 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Document doc, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(doc, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -157,6 +263,24 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Element elem, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(elem, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with JDOM Document as source.
*
@@ -168,6 +292,19 @@ public class XMLHelper {
return xQueryElements(doc, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Document doc, String elementName, Namespace ns) {
+ return xQueryElements(doc, "//"+elementName, ns);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -180,6 +317,20 @@ public class XMLHelper {
return xQueryElements(elem, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Element elem, String elementName, Namespace ns) {
+ return xQueryElements(elem, "//"+elementName, ns);
+ }
+
/**
* Checks whether two elements have an equal XML tag.
* (Name of the XML tag and all attributes including their order must be equal)
diff --git a/src/var/FeatureModelConfigurator/features/WafflePi/Configurator.jak b/src/var/FeatureModelConfigurator/features/turtlebot3_burger/Configurator.jak
similarity index 69%
rename from src/var/FeatureModelConfigurator/features/WafflePi/Configurator.jak
rename to src/var/FeatureModelConfigurator/features/turtlebot3_burger/Configurator.jak
index f988df1..e3cc347 100644
--- a/src/var/FeatureModelConfigurator/features/WafflePi/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/turtlebot3_burger/Configurator.jak
@@ -3,7 +3,7 @@
*/
public refines class Configurator {
public void save() {
- Super().addToModuleList("WafflePi");
+ Super().addToModuleList("turtlebot3_burger");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/turtlebot3_burger_for_autorace/Configurator.jak b/src/var/FeatureModelConfigurator/features/turtlebot3_burger_for_autorace/Configurator.jak
new file mode 100644
index 0000000..b459d76
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/turtlebot3_burger_for_autorace/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("turtlebot3_burger_for_autorace");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/Waffle/Configurator.jak b/src/var/FeatureModelConfigurator/features/turtlebot3_burgertest1/Configurator.jak
similarity index 67%
rename from src/var/FeatureModelConfigurator/features/Waffle/Configurator.jak
rename to src/var/FeatureModelConfigurator/features/turtlebot3_burgertest1/Configurator.jak
index 2a9c54e..3042e18 100644
--- a/src/var/FeatureModelConfigurator/features/Waffle/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/turtlebot3_burgertest1/Configurator.jak
@@ -3,7 +3,7 @@
*/
public refines class Configurator {
public void save() {
- Super().addToModuleList("Waffle");
+ Super().addToModuleList("turtlebot3_burgertest1");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/Burger/Configurator.jak b/src/var/FeatureModelConfigurator/features/turtlebot3_waffle/Configurator.jak
similarity index 69%
rename from src/var/FeatureModelConfigurator/features/Burger/Configurator.jak
rename to src/var/FeatureModelConfigurator/features/turtlebot3_waffle/Configurator.jak
index a575616..067c472 100644
--- a/src/var/FeatureModelConfigurator/features/Burger/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/turtlebot3_waffle/Configurator.jak
@@ -3,7 +3,7 @@
*/
public refines class Configurator {
public void save() {
- Super().addToModuleList("Burger");
+ Super().addToModuleList("turtlebot3_waffle");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/BurgerForAutorace/Configurator.jak b/src/var/FeatureModelConfigurator/features/turtlebot3_waffle_pi/Configurator.jak
similarity index 67%
rename from src/var/FeatureModelConfigurator/features/BurgerForAutorace/Configurator.jak
rename to src/var/FeatureModelConfigurator/features/turtlebot3_waffle_pi/Configurator.jak
index 3b83c07..cc6808b 100644
--- a/src/var/FeatureModelConfigurator/features/BurgerForAutorace/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/turtlebot3_waffle_pi/Configurator.jak
@@ -3,7 +3,7 @@
*/
public refines class Configurator {
public void save() {
- Super().addToModuleList("BurgerForAutorace");
+ Super().addToModuleList("turtlebot3_waffle_pi");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/model.xml b/src/var/FeatureModelConfigurator/model.xml
index ddc54f1..c63c0f7 100644
--- a/src/var/FeatureModelConfigurator/model.xml
+++ b/src/var/FeatureModelConfigurator/model.xml
@@ -13,10 +13,11 @@
<and mandatory="true" name="ConfiguratorMain">
<alt abstract="true" mandatory="true" name="Templates">
<!-- Bot template features go here-->
- <feature name="Burger" />
- <feature name="BurgerForAutorace" />
- <feature name="Waffle" />
- <feature name="WafflePi" />
+ <feature name="turtlebot3_burger" />
+ <feature name="turtlebot3_burger_for_autorace" />
+ <feature name="turtlebot3_burgertest1" />
+ <feature name="turtlebot3_waffle" />
+ <feature name="turtlebot3_waffle_pi" />
</alt>
<alt abstract="true" mandatory="true" name="Sensors">
<feature name="NO_CHANGE" />
diff --git a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
index 0b5b671..a8bd65a 100644
--- a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+++ b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<specification>
- <templates name="Waffle" />
+ <templates name="turtlebot3_waffle" />
<sensors>
<mode param="NO_CHANGE" />
</sensors>
diff --git a/src/var/FeatureModelConfigurator/src/Adapter.java b/src/var/FeatureModelConfigurator/src/Adapter.java
index e4e3580..106cffe 100644
--- a/src/var/FeatureModelConfigurator/src/Adapter.java
+++ b/src/var/FeatureModelConfigurator/src/Adapter.java
@@ -6,8 +6,8 @@ import org.jdom2.*;
/**
- * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given ROS/ Gazebo .gazebo.xacro file.
- * The .gazebo.xacro file is modified to support the features specified in the featuremodel.xml file.
+ * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given .gazebo.xacro and urdf.xacro file.
+ * The .gazebo.xacro and .urdf.xacro files are modified to support the features specified in the featuremodel.xml file.
*/
public class Adapter extends XMLHelper {
@@ -32,29 +32,33 @@ public class Adapter extends XMLHelper {
/**
* Call this to run Adapter.
*/
+ //public static void main(String[] args) {
public Adapter() {
System.out.println("Adapter started.");
try {
final String SC_ENDING = ".xml";
- final String GM_ENDING = ".gazebo.xacro";
+ final String GX_ENDING = ".gazebo.xacro";
+ final String UX_ENDING = ".urdf.xacro";
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gmPath = getConfigVal(adapterConfig, "input/gazebomodel", "path");
- String out_gmPath = getConfigVal(adapterConfig, "output/gazebomodel", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
+ String in_descPath = getConfigVal(adapterConfig, "input/bot_description", "path");
+ String out_descPath = getConfigVal(adapterConfig, "output/bot_description", "path");
String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gmName = "";
- String out_gmName = getConfigVal(adapterConfig, "output/gazebomodel", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String in_gxName = "";
+ String in_uxName = "";
+ String out_gxName = getConfigVal(adapterConfig, "output/bot_description", "gazebo_xacro");
+ String out_uxName = getConfigVal(adapterConfig, "output/bot_description", "urdf_xacro");
+ String out_bnName = getConfigVal(adapterConfig, "output/bot_description", "botname");
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
+ Document urdfModel = null;
//Get the selected mode (either NO_CHANGE or Custom) as String.
String mode = "";
@@ -106,19 +110,34 @@ public class Adapter extends XMLHelper {
System.exit(-1);
}
- in_gmName = botName+GM_ENDING;
+ in_gxName = botName+GX_ENDING;
- List<String> gmList = getFileNames(in_gmPath);
+ List<String> gxList = getFileNames(in_descPath);
boolean inDirectory = false;
- for(String fileName : gmList) {
- if(fileName.equals(in_gmName)) inDirectory = true;
+ for(String fileName : gxList) {
+ if(fileName.equals(in_gxName)) inDirectory = true;
}
if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No input file known.");
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
System.exit(-1);
}
- gazeboModel = readXml(in_gmPath+in_gmName);
+ gazeboModel = readXml(in_descPath+in_gxName);
+
+ //Get the corresponding .urdf.xacro file as Document.
+ in_uxName = botName+UX_ENDING;
+
+ List<String> urdfList = getFileNames(in_descPath);
+ inDirectory = false;
+ for(String fileName : urdfList) {
+ if(fileName.equals(in_uxName)) inDirectory = true;
+ }
+ if(!inDirectory) {
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+UX_ENDING+"\' input file known.");
+ System.exit(-1);
+ }
+
+ urdfModel = readXml(in_descPath+in_uxName);
//###############################################
@@ -136,7 +155,7 @@ public class Adapter extends XMLHelper {
entry.detach();
}
else {
- System.out.println("Found a <sensor> element in \'"+in_gmName+
+ System.out.println("Found a <sensor> element in \'"+in_gxName+
"\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
}
}
@@ -173,10 +192,41 @@ public class Adapter extends XMLHelper {
//###############################################
+ //######### Operate on .urdf.xacro ############
+ final Namespace ns = urdfModel.getRootElement().getNamespace("xacro");
+
+ //Set <xacro:include> tags
+ List<Element> includeList = xQueryElements(urdfModel, "//xacro:include", ns);
+ if(includeList.size()!=2) {
+ System.err.println("Invalid input in \'"+in_uxName+"\': Expected exactly 2 xacro:include tags.");
+ System.exit(-1);
+ }
+ String destDirectoryName = (new File(out_descPath)).getName();
+ //includeList.get(0).setAttribute("filename", "$(find "+destDirectoryName+")/common_properties.xacro");//TODO
+ includeList.get(1).setAttribute("filename", "$(find "+destDirectoryName+")/"+out_gxName);
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //TODO
+ //If the urdf.xacro would be modified (to have an accurate visual model with the sensors attached to it),
+ //this needs to happen here. (Delete or Insert <link>/ <joint> tags.)
+ //This would require separate files with <link>/ <joint> tags for each bot for the Adapter to access...
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+ //###############################################
+
+
//######### Output result #######################
- saveAsXml(gazeboModel, out_gmPath+out_gmName);
+ saveAsXml(gazeboModel, out_descPath+out_gxName);
+
+ saveAsXml(urdfModel, out_descPath+out_uxName);
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_descPath+out_bnName));
bufferedWriter.write(botName);
bufferedWriter.close();
//###############################################
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index 7b72c8d..9c9d5ad 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -176,12 +176,12 @@ abstract class Configurator$$ConfiguratorMain {
}
}
-SoUrCe Waffle "../features/Waffle/Configurator.jak";/**
+SoUrCe turtlebot3_waffle "../features/turtlebot3_waffle/Configurator.jak";/**
* TODO description
*/
-abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
+abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() {
- Super().addToModuleList("Waffle");
+ Super().addToModuleList("turtlebot3_waffle");
Super().save();
}
}
@@ -189,7 +189,7 @@ abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
* TODO description
*/
-public class Configurator extends Configurator$$Waffle {
+public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
Super().addToModuleList("NO_CHANGE");
Super().save();
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index 878c955..7301a67 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -179,9 +179,9 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
-abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
+abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() {
- super.addToModuleList("Waffle");
+ super.addToModuleList("turtlebot3_waffle");
super.save();
}
}
@@ -189,7 +189,7 @@ abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
/**
* TODO description
*/
-public class Configurator extends Configurator$$Waffle {
+public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
super.addToModuleList("NO_CHANGE");
super.save();
diff --git a/src/var/FeatureModelConfigurator/src/XMLHelper.java b/src/var/FeatureModelConfigurator/src/XMLHelper.java
index 30d0f3b..3a1030b 100644
--- a/src/var/FeatureModelConfigurator/src/XMLHelper.java
+++ b/src/var/FeatureModelConfigurator/src/XMLHelper.java
@@ -57,13 +57,32 @@ public class XMLHelper {
File directory = new File(path);
File[] contentList = directory.listFiles();
- for (File file : contentList) {
- if (file.isFile()) fileNames.add(file.getName());
+ for (File elem : contentList) {
+ if (elem.isFile()) fileNames.add(elem.getName());
}
return fileNames;
}
+ /**
+ * Takes a given directory path and lists all directories directly in it.
+ * (Does not visit sub-directories recursively)
+ *
+ * @param path Path to the directory
+ * @return ArrayList with all directory names
+ */
+ public static ArrayList<String> getDirectoryNames(String path) {
+ ArrayList<String> directoryNames = new ArrayList<String>();
+ File directory = new File(path);
+ File[] contentList = directory.listFiles();
+
+ for (File elem : contentList) {
+ if (elem.isDirectory()) directoryNames.add(elem.getName());
+ }
+
+ return directoryNames;
+ }
+
/**
* Executes given XPath expression for elements with JDOM Document as source.
*
@@ -79,6 +98,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for elements with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -95,6 +131,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with JDOM Document as source.
*
@@ -110,6 +164,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -126,6 +197,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with JDOM Document as source.
*
@@ -141,6 +230,23 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Document doc, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(doc, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -157,6 +263,24 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Element elem, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(elem, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with JDOM Document as source.
*
@@ -168,6 +292,19 @@ public class XMLHelper {
return xQueryElements(doc, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Document doc, String elementName, Namespace ns) {
+ return xQueryElements(doc, "//"+elementName, ns);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -180,6 +317,20 @@ public class XMLHelper {
return xQueryElements(elem, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Element elem, String elementName, Namespace ns) {
+ return xQueryElements(elem, "//"+elementName, ns);
+ }
+
/**
* Checks whether two elements have an equal XML tag.
* (Name of the XML tag and all attributes including their order must be equal)
diff --git a/src/var/FeatureModelImplGenerator/modelsetup.config b/src/var/FeatureModelImplGenerator/modelsetup.config
index c9861ed..b6d7141 100644
--- a/src/var/FeatureModelImplGenerator/modelsetup.config
+++ b/src/var/FeatureModelImplGenerator/modelsetup.config
@@ -10,7 +10,7 @@
<sensorconfig type="directory" path="./../FeatureModelConfigurator/resources/input/sensorconfig/" />
<!-- Path to all available .gazebo.xacro files. -->
<!-- Files with other endings are allowed and will be ignored. -->
- <gazebomodel type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/" />
+ <bot_description type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/" />
<!-- <gazebomodel type="directory" path="./../FeatureModelConfigurator/resources/input/bot_description/" /> -->
</input>
<output>
diff --git a/src/var/FeatureModelImplGenerator/src/Adapter.java b/src/var/FeatureModelImplGenerator/src/Adapter.java
index e4e3580..106cffe 100644
--- a/src/var/FeatureModelImplGenerator/src/Adapter.java
+++ b/src/var/FeatureModelImplGenerator/src/Adapter.java
@@ -6,8 +6,8 @@ import org.jdom2.*;
/**
- * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given ROS/ Gazebo .gazebo.xacro file.
- * The .gazebo.xacro file is modified to support the features specified in the featuremodel.xml file.
+ * Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given .gazebo.xacro and urdf.xacro file.
+ * The .gazebo.xacro and .urdf.xacro files are modified to support the features specified in the featuremodel.xml file.
*/
public class Adapter extends XMLHelper {
@@ -32,29 +32,33 @@ public class Adapter extends XMLHelper {
/**
* Call this to run Adapter.
*/
+ //public static void main(String[] args) {
public Adapter() {
System.out.println("Adapter started.");
try {
final String SC_ENDING = ".xml";
- final String GM_ENDING = ".gazebo.xacro";
+ final String GX_ENDING = ".gazebo.xacro";
+ final String UX_ENDING = ".urdf.xacro";
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gmPath = getConfigVal(adapterConfig, "input/gazebomodel", "path");
- String out_gmPath = getConfigVal(adapterConfig, "output/gazebomodel", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
+ String in_descPath = getConfigVal(adapterConfig, "input/bot_description", "path");
+ String out_descPath = getConfigVal(adapterConfig, "output/bot_description", "path");
String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gmName = "";
- String out_gmName = getConfigVal(adapterConfig, "output/gazebomodel", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String in_gxName = "";
+ String in_uxName = "";
+ String out_gxName = getConfigVal(adapterConfig, "output/bot_description", "gazebo_xacro");
+ String out_uxName = getConfigVal(adapterConfig, "output/bot_description", "urdf_xacro");
+ String out_bnName = getConfigVal(adapterConfig, "output/bot_description", "botname");
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
+ Document urdfModel = null;
//Get the selected mode (either NO_CHANGE or Custom) as String.
String mode = "";
@@ -106,19 +110,34 @@ public class Adapter extends XMLHelper {
System.exit(-1);
}
- in_gmName = botName+GM_ENDING;
+ in_gxName = botName+GX_ENDING;
- List<String> gmList = getFileNames(in_gmPath);
+ List<String> gxList = getFileNames(in_descPath);
boolean inDirectory = false;
- for(String fileName : gmList) {
- if(fileName.equals(in_gmName)) inDirectory = true;
+ for(String fileName : gxList) {
+ if(fileName.equals(in_gxName)) inDirectory = true;
}
if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No input file known.");
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
System.exit(-1);
}
- gazeboModel = readXml(in_gmPath+in_gmName);
+ gazeboModel = readXml(in_descPath+in_gxName);
+
+ //Get the corresponding .urdf.xacro file as Document.
+ in_uxName = botName+UX_ENDING;
+
+ List<String> urdfList = getFileNames(in_descPath);
+ inDirectory = false;
+ for(String fileName : urdfList) {
+ if(fileName.equals(in_uxName)) inDirectory = true;
+ }
+ if(!inDirectory) {
+ System.err.println("Cannot handle \'"+botName+"\': No \'"+UX_ENDING+"\' input file known.");
+ System.exit(-1);
+ }
+
+ urdfModel = readXml(in_descPath+in_uxName);
//###############################################
@@ -136,7 +155,7 @@ public class Adapter extends XMLHelper {
entry.detach();
}
else {
- System.out.println("Found a <sensor> element in \'"+in_gmName+
+ System.out.println("Found a <sensor> element in \'"+in_gxName+
"\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
}
}
@@ -173,10 +192,41 @@ public class Adapter extends XMLHelper {
//###############################################
+ //######### Operate on .urdf.xacro ############
+ final Namespace ns = urdfModel.getRootElement().getNamespace("xacro");
+
+ //Set <xacro:include> tags
+ List<Element> includeList = xQueryElements(urdfModel, "//xacro:include", ns);
+ if(includeList.size()!=2) {
+ System.err.println("Invalid input in \'"+in_uxName+"\': Expected exactly 2 xacro:include tags.");
+ System.exit(-1);
+ }
+ String destDirectoryName = (new File(out_descPath)).getName();
+ //includeList.get(0).setAttribute("filename", "$(find "+destDirectoryName+")/common_properties.xacro");//TODO
+ includeList.get(1).setAttribute("filename", "$(find "+destDirectoryName+")/"+out_gxName);
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //TODO
+ //If the urdf.xacro would be modified (to have an accurate visual model with the sensors attached to it),
+ //this needs to happen here. (Delete or Insert <link>/ <joint> tags.)
+ //This would require separate files with <link>/ <joint> tags for each bot for the Adapter to access...
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+ //###############################################
+
+
//######### Output result #######################
- saveAsXml(gazeboModel, out_gmPath+out_gmName);
+ saveAsXml(gazeboModel, out_descPath+out_gxName);
+
+ saveAsXml(urdfModel, out_descPath+out_uxName);
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_descPath+out_bnName));
bufferedWriter.write(botName);
bufferedWriter.close();
//###############################################
diff --git a/src/var/FeatureModelImplGenerator/src/ModelSetup.java b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
index dacfab2..2ed7624 100644
--- a/src/var/FeatureModelImplGenerator/src/ModelSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
@@ -7,7 +7,7 @@ import org.jdom2.*;
/**
* Takes the specified template for a Feature IDE model file and adds all available
- * sensorconfig/ gazebo model files.
+ * sensorconfig/ gazebo.xacro model files.
*/
public class ModelSetup extends XMLHelper{
@@ -37,14 +37,14 @@ public class ModelSetup extends XMLHelper{
try {
final String SC_ENDING = ".xml";
- final String GM_ENDING = ".gazebo.xacro";
+ final String GX_ENDING = ".gazebo.xacro";
//######### Input ###############################
Document ModelSetupConfig = readXml("./modelsetup.config");
String in_mPath = getConfigVal(ModelSetupConfig, "input/model", "path");
String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");
- String in_gmPath = getConfigVal(ModelSetupConfig, "input/gazebomodel", "path");
+ String in_descPath = getConfigVal(ModelSetupConfig, "input/bot_description", "path");
String out_mPath = getConfigVal(ModelSetupConfig, "output/model", "path");
String in_mName = getConfigVal(ModelSetupConfig, "input/model", "name");
String out_mName = getConfigVal(ModelSetupConfig, "output/model", "name");
@@ -52,14 +52,14 @@ public class ModelSetup extends XMLHelper{
Document model = readXml(in_mPath+in_mName);
//Get sensorconfig- and gazebomodel file names.
- //All files in in_scPath will be treated as sensorconfigs, while in_gmPath may
+ //All files in in_scPath will be treated as sensorconfigs, while in_descPath may
//contain other files that will be filtered out!
List<String> scList = getFileNames(in_scPath);
- List<String> tmpList = getFileNames(in_gmPath);
- List<String> gmList = new ArrayList<String>();
+ List<String> tmpList = getFileNames(in_descPath);
+ List<String> gxList = new ArrayList<String>();
for(String s : tmpList) {
- if(s.endsWith(GM_ENDING)) {
- gmList.add(s);
+ if(s.endsWith(GX_ENDING)) {
+ gxList.add(s);
}
}
@@ -69,8 +69,8 @@ public class ModelSetup extends XMLHelper{
if(scList.isEmpty()) {
System.out.println("Warning: No sensorconfig files found in \'"+in_scPath+"\'.");
}
- if(gmList.isEmpty()) {
- System.err.println("Error: No gazebo model files found in \'"+in_gmPath+"\'.");
+ if(gxList.isEmpty()) {
+ System.err.println("Error: No \'"+GX_ENDING+"\' files found in \'"+in_descPath+"\'.");
System.exit(-1);
}
@@ -84,7 +84,7 @@ public class ModelSetup extends XMLHelper{
//Sort features alphabetically (ascending order; upper case first; then lower case).
Collections.sort(scList);
- Collections.sort(gmList);
+ Collections.sort(gxList);
//###############################################
@@ -117,8 +117,8 @@ public class ModelSetup extends XMLHelper{
custom.addContent(feature);
}
- for(String gm : gmList) {
- String featureName = gm.substring(0, gm.length() - GM_ENDING.length());
+ for(String gx : gxList) {
+ String featureName = gx.substring(0, gx.length() - GX_ENDING.length());
Element feature = new Element("feature").setAttribute("name", featureName);
templates.addContent(feature);
}
diff --git a/src/var/FeatureModelImplGenerator/src/XMLHelper.java b/src/var/FeatureModelImplGenerator/src/XMLHelper.java
index 30d0f3b..3a1030b 100644
--- a/src/var/FeatureModelImplGenerator/src/XMLHelper.java
+++ b/src/var/FeatureModelImplGenerator/src/XMLHelper.java
@@ -57,13 +57,32 @@ public class XMLHelper {
File directory = new File(path);
File[] contentList = directory.listFiles();
- for (File file : contentList) {
- if (file.isFile()) fileNames.add(file.getName());
+ for (File elem : contentList) {
+ if (elem.isFile()) fileNames.add(elem.getName());
}
return fileNames;
}
+ /**
+ * Takes a given directory path and lists all directories directly in it.
+ * (Does not visit sub-directories recursively)
+ *
+ * @param path Path to the directory
+ * @return ArrayList with all directory names
+ */
+ public static ArrayList<String> getDirectoryNames(String path) {
+ ArrayList<String> directoryNames = new ArrayList<String>();
+ File directory = new File(path);
+ File[] contentList = directory.listFiles();
+
+ for (File elem : contentList) {
+ if (elem.isDirectory()) directoryNames.add(elem.getName());
+ }
+
+ return directoryNames;
+ }
+
/**
* Executes given XPath expression for elements with JDOM Document as source.
*
@@ -79,6 +98,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for elements with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -95,6 +131,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for elements with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element(), null, ns);
+ List<Element> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with JDOM Document as source.
*
@@ -110,6 +164,23 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Document doc, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(doc);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -126,6 +197,24 @@ public class XMLHelper {
return result;
}
+ /**
+ * Executes given XPath expression for attributes with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all attributes found or empty list if no match found
+ */
+ public static List<Attribute> xQueryAttributes(Element elem, String xPath, Namespace ns) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute(), null, ns);
+ List<Attribute> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with JDOM Document as source.
*
@@ -141,6 +230,23 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Document doc, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(doc, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for the first occurrence of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -157,6 +263,24 @@ public class XMLHelper {
return query.get(0);
}
+ /**
+ * Searches a document for the first occurrence of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return First element found or NULL if no match found
+ */
+ public static Element searchFirstElement(Element elem, String elementName, Namespace ns) {
+ //XPath index starts with 1; [] has a higher precedence than //
+ List<Element> query= xQueryElements(elem, "(//"+elementName+")[1]", ns);
+
+ if(query.isEmpty()) return null;
+ return query.get(0);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with JDOM Document as source.
*
@@ -168,6 +292,19 @@ public class XMLHelper {
return xQueryElements(doc, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with JDOM Document as source.
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param doc The JDOM Document
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Document doc, String elementName, Namespace ns) {
+ return xQueryElements(doc, "//"+elementName, ns);
+ }
+
/**
* Searches a document for all occurrences of an XML tag with Element as source.
* (Expression is executed on the entire Document the Element is attached to!)
@@ -180,6 +317,20 @@ public class XMLHelper {
return xQueryElements(elem, "//"+elementName);
}
+ /**
+ * Searches a document for all occurrences of an XML tag with Element as source.
+ * (Expression is executed on the entire Document the Element is attached to!)
+ * (Can handle namespaces.)
+ *
+ * @param ns The XML Namespace
+ * @param elem The Element
+ * @param elementName Name of the XML tag
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> searchAllElements(Element elem, String elementName, Namespace ns) {
+ return xQueryElements(elem, "//"+elementName, ns);
+ }
+
/**
* Checks whether two elements have an equal XML tag.
* (Name of the XML tag and all attributes including their order must be equal)
--
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