From 9df72f6db4b3738bf67de49b4a5aede3101a8766 Mon Sep 17 00:00:00 2001
From: marvin <marvin@marvin-TERRA-MOBILE-1529H>
Date: Thu, 19 Mar 2020 16:25:28 +0100
Subject: [PATCH] Refactoring of Adapter, ModelSetup, SensorconfigSetup
(and bugfix in XMLHelper.findFile)
---
.../urdf/turtlebot3_burger.gazebo.xacro | 2 +-
.../urdf/turtlebot3_burger.urdf.xacro | 3 +-
.../urdf/turtlebot3_waffle.urdf.xacro | 2 +-
.../urdf/turtlebot3_waffle_pi.urdf.xacro | 2 +-
.../common_properties.xacro | 44 ---
.../turtlebot3_burger.gazebo.xacro | 135 -------
.../turtlebot3_burger.gazeboSafety.xacro | 135 -------
.../turtlebot3_burger.urdf.xacro | 166 --------
.../turtlebot3_burgerSafety.urdf.xacro | 165 --------
...urtlebot3_burger_for_autorace.gazebo.xacro | 169 --------
.../turtlebot3_burger_for_autorace.urdf.xacro | 194 ----------
.../turtlebot3_burgertest1.gazebo.xacro | 135 -------
.../turtlebot3_burgertest1.urdf.xacro | 162 --------
.../turtlebot3_waffle.gazebo.xacro | 190 ---------
.../turtlebot3_waffle.urdf.xacro | 251 ------------
...ot3_waffle_for_open_manipulator.urdf.xacro | 251 ------------
.../turtlebot3_waffle_pi.gazebo.xacro | 180 ---------
.../turtlebot3_waffle_pi.urdf.xacro | 217 -----------
..._waffle_pi_for_open_manipulator.urdf.xacro | 217 -----------
.../features/ConfiguratorMain/Adapter.java | 360 ++++--------------
.../ConfiguratorMain/BotNameAdapter.java | 67 ++++
.../ConfiguratorMain/Configurator.jak | 15 +-
.../ConfiguratorMain/GazeboAdapter.java | 155 ++++++++
.../ConfiguratorMain/UrdfAdapter.java | 136 +++++++
.../ConfiguratorMain/UserSetIOReader.java | 88 +++++
.../features/ConfiguratorMain/XMLHelper.java | 27 +-
.../lds_lfcd_sensor___turtlebot3_burger.xml | 2 +-
.../FeatureModelConfigurator/src/Adapter.java | 360 ++++--------------
.../src/BotNameAdapter.java | 67 ++++
.../src/Configurator.jak | 15 +-
.../src/Configurator.java | 15 +-
.../src/GazeboAdapter.java | 155 ++++++++
.../src/UrdfAdapter.java | 136 +++++++
.../src/UserSetIOReader.java | 88 +++++
.../src/XMLHelper.java | 27 +-
.../modelsetup.config | 19 -
.../src/Adapter.java | 360 ++++--------------
.../src/BotNameAdapter.java | 67 ++++
.../src/GazeboAdapter.java | 155 ++++++++
.../src/ImplGenerator.java | 69 ++--
.../src/ModelSetup.java | 330 ++++++++--------
.../src/SensorConfigSetup.java | 275 ++++++-------
.../FeatureModelImplGenerator/src/Setup.java | 30 ++
.../src/UrdfAdapter.java | 136 +++++++
.../src/UserSetIOReader.java | 88 +++++
.../src/XMLHelper.java | 27 +-
.../template/Main.jak | 15 +-
.../adapter.config => usersetio.config} | 17 +-
48 files changed, 2048 insertions(+), 3873 deletions(-)
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro
delete mode 100644 src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
create mode 100644 src/var/FeatureModelConfigurator/features/ConfiguratorMain/BotNameAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/features/ConfiguratorMain/GazeboAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/features/ConfiguratorMain/UrdfAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/features/ConfiguratorMain/UserSetIOReader.java
create mode 100644 src/var/FeatureModelConfigurator/src/BotNameAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/src/GazeboAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/src/UrdfAdapter.java
create mode 100644 src/var/FeatureModelConfigurator/src/UserSetIOReader.java
delete mode 100644 src/var/FeatureModelImplGenerator/modelsetup.config
create mode 100644 src/var/FeatureModelImplGenerator/src/BotNameAdapter.java
create mode 100644 src/var/FeatureModelImplGenerator/src/GazeboAdapter.java
create mode 100644 src/var/FeatureModelImplGenerator/src/Setup.java
create mode 100644 src/var/FeatureModelImplGenerator/src/UrdfAdapter.java
create mode 100644 src/var/FeatureModelImplGenerator/src/UserSetIOReader.java
rename src/var/{FeatureModelConfigurator/adapter.config => usersetio.config} (62%)
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
index 79722dd..817e798 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
@@ -116,7 +116,7 @@
</scan>
<range>
<min>0.120</min>
- <max>16</max>
+ <max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
index c8b1e55..c63d8c6 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
@@ -1,7 +1,8 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
<link name="base_footprint"/>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
index 351b1b4..ee23268 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
index e9995c5..46cf4a9 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
<link name="base_footprint"/>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro
deleted file mode 100644
index b26a853..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0" ?>
-
-<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <!-- Init colour -->
- <material name="black">
- <color rgba="0.0 0.0 0.0 1.0"/>
- </material>
-
- <material name="dark">
- <color rgba="0.3 0.3 0.3 1.0"/>
- </material>
- <material name="light_black">
- <color rgba="0.4 0.4 0.4 1.0"/>
- </material>
-
- <material name="blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
-
- <material name="green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
-
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1.0"/>
- </material>
-
- <material name="orange">
- <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
- </material>
-
- <material name="brown">
- <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
- </material>
-
- <material name="red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
-
- <material name="white">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro
deleted file mode 100644
index 817e798..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro
+++ /dev/null
@@ -1,135 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.160</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <frameName>imu_link</frameName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>3.5</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro
deleted file mode 100644
index ca205cd..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro
+++ /dev/null
@@ -1,135 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.160</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <frameName>imu_link</frameName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>8</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro
deleted file mode 100644
index c63d8c6..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro
+++ /dev/null
@@ -1,166 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
-
-
- <link name="base_footprint"/>
-
- <joint name="base_joint" type="fixed">
- <parent link="base_footprint"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
- </joint>
-
- <link name="base_link">
- <visual>
- <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="light_black"/>
- </visual>
-
- <collision>
- <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
- <geometry>
- <box size="0.140 0.140 0.143"/>
- </geometry>
- </collision>
-
- <inertial>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="8.2573504e-01"/>
- <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
- iyy="2.1193702e-03" iyz="-5.0120904e-06"
- izz="2.0064271e-03" />
- </inertial>
- </link>
-
- <joint name="wheel_left_joint" type="continuous">
- <parent link="base_link"/>
- <child link="wheel_left_link"/>
- <origin xyz="0.0 0.08 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 -0.080 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_joint" type="fixed">
- <parent link="base_link"/>
- <child link="caster_back_link"/>
- <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
- </joint>
-
- <link name="caster_back_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="-0.032 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="-0.032 0 0.172" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 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>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro
deleted file mode 100644
index d066759..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro
+++ /dev/null
@@ -1,165 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
-
- <link name="base_footprint"/>
-
- <joint name="base_joint" type="fixed">
- <parent link="base_footprint"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
- </joint>
-
- <link name="base_link">
- <visual>
- <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="light_black"/>
- </visual>
-
- <collision>
- <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
- <geometry>
- <box size="0.140 0.140 0.143"/>
- </geometry>
- </collision>
-
- <inertial>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="8.2573504e-01"/>
- <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
- iyy="2.1193702e-03" iyz="-5.0120904e-06"
- izz="2.0064271e-03" />
- </inertial>
- </link>
-
- <joint name="wheel_left_joint" type="continuous">
- <parent link="base_link"/>
- <child link="wheel_left_link"/>
- <origin xyz="0.0 0.08 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 -0.080 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_joint" type="fixed">
- <parent link="base_link"/>
- <child link="caster_back_link"/>
- <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
- </joint>
-
- <link name="caster_back_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="-0.032 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="-0.032 0 0.172" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 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>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro
deleted file mode 100644
index 9ea2980..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro
+++ /dev/null
@@ -1,169 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_for_autorace_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="camera_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.160</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>3.5</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
- <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
- <gazebo reference="camera_rgb_frame">
- <sensor type="camera" name="Pi Camera">
- <always_on>true</always_on>
- <visualize>$(arg camera_visual)</visualize>
- <camera>
- <horizontal_fov>1.085595</horizontal_fov>
- <image>
- <width>320</width>
- <height>240</height>
- <format>R8G8B8</format>
- </image>
- <clip>
- <near>0.03</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>30.0</updateRate>
- <cameraName>camera</cameraName>
- <frameName>camera_rgb_optical_frame</frameName>
- <imageTopicName>image</imageTopicName>
- <cameraInfoTopicName>camera_info</cameraInfoTopicName>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro
deleted file mode 100644
index e647f37..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro
+++ /dev/null
@@ -1,194 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger_for_autorace" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.gazebo.xacro"/>
-
- <link name="base_footprint"/>
-
- <joint name="base_joint" type="fixed">
- <parent link="base_footprint"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
- </joint>
-
- <link name="base_link">
- <visual>
- <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="light_black"/>
- </visual>
-
- <collision>
- <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
- <geometry>
- <box size="0.140 0.140 0.143"/>
- </geometry>
- </collision>
-
- <inertial>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="8.2573504e-01"/>
- <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
- iyy="2.1193702e-03" iyz="-5.0120904e-06"
- izz="2.0064271e-03" />
- </inertial>
- </link>
-
- <joint name="wheel_left_joint" type="continuous">
- <parent link="base_link"/>
- <child link="wheel_left_link"/>
- <origin xyz="0.0 0.08 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 -0.080 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_joint" type="fixed">
- <parent link="base_link"/>
- <child link="caster_back_link"/>
- <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
- </joint>
-
- <link name="caster_back_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="-0.032 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="-0.032 0 0.172" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 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="0.040 -0.011 0.130" rpy="0 0.174 0"/>
- <parent link="base_link"/>
- <child link="camera_link"/>
- </joint>
-
- <link name="camera_link">
- <collision>
- <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
- <geometry>
- <box size="0.015 0.030 0.027"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="camera_rgb_joint" type="fixed">
- <origin xyz="0.003 0.011 0.009" 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"/>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro
deleted file mode 100644
index a014212..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro
+++ /dev/null
@@ -1,135 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.160</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <frameName>imu_link</frameName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="gpu_ray" name="head_rplidar_sensor">
- <pose>0 0 0.06 0 0 0</pose>
- <visualize>false</visualize>
- <update_rate>40</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>720</samples>
- <resolution>1</resolution>
- <min_angle>-3.14159265</min_angle>
- <max_angle>3.14159265</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.2</min>
- <max>30.0</max>
- <resolution>0.01</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
- <topicName>scan</topicName>
- <frameName>laser</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro
deleted file mode 100644
index aa785c9..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro
+++ /dev/null
@@ -1,162 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
-
- <link name="base_footprint"/>
-
- <joint name="base_joint" type="fixed">
- <parent link="base_footprint"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
- </joint>
-
- <link name="base_link">
- <visual>
- <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="light_black"/>
- </visual>
-
- <collision>
- <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
- <geometry>
- <box size="0.140 0.140 0.143"/>
- </geometry>
- </collision>
-
- <inertial>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="8.2573504e-01"/>
- <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
- iyy="2.1193702e-03" iyz="-5.0120904e-06"
- izz="2.0064271e-03" />
- </inertial>
- </link>
-
- <joint name="wheel_left_joint" type="continuous">
- <parent link="base_link"/>
- <child link="wheel_left_link"/>
- <origin xyz="0.0 0.08 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 -0.080 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_joint" type="fixed">
- <parent link="base_link"/>
- <child link="caster_back_link"/>
- <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
- </joint>
-
- <link name="caster_back_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="-0.032 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="-0.032 0 0.172" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/sensors/rplidar.dae" scale="0.001 0.001 0.001" />
- </geometry>
- </visual>
-
- <collision>
- <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/sensors/rplidar.dae" scale="0.001 0.001 0.001" />
- </geometry>
- </collision>
-
- <inertial>
- <mass value="1e-5" />
- <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
- <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
- </inertial>
- </link>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro
deleted file mode 100644
index 3eef193..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro
+++ /dev/null
@@ -1,190 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_waffle_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="camera_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.287</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <frameName>imu_link</frameName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>3.5</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
- <gazebo reference="camera_rgb_frame">
- <sensor type="depth" name="realsense_R200">
- <always_on>true</always_on>
- <visualize>$(arg camera_visual)</visualize>
- <camera>
- <horizontal_fov>1.3439</horizontal_fov>
- <image>
- <width>1920</width>
- <height>1080</height>
- <format>R8G8B8</format>
- </image>
- <depth_camera></depth_camera>
- <clip>
- <near>0.03</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
- <baseline>0.2</baseline>
- <alwaysOn>true</alwaysOn>
- <updateRate>30.0</updateRate>
- <cameraName>camera</cameraName>
- <frameName>camera_rgb_optical_frame</frameName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudCutoff>0.4</pointCloudCutoff>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
- <CxPrime>0.0</CxPrime>
- <Cx>0.0</Cx>
- <Cy>0.0</Cy>
- <focalLength>0</focalLength>
- <hackBaseline>0</hackBaseline>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro
deleted file mode 100644
index ee23268..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro
+++ /dev/null
@@ -1,251 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.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} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
- <parent link="camera_link"/>
- <child link="camera_depth_frame"/>
- </joint>
- <link name="camera_depth_frame"/>
-
- <joint name="camera_depth_optical_joint" type="fixed">
- <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
- <parent link="camera_depth_frame"/>
- <child link="camera_depth_optical_frame"/>
- </joint>
- <link name="camera_depth_optical_frame"/>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro
deleted file mode 100644
index cd4044c..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro
+++ /dev/null
@@ -1,251 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle_for_open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.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_for_open_manipulator.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 0.001 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 0.001 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="-0.024 0 0.122" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 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="0.045"/>
- </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 0.010" rpy="0 0 0"/>
- <geometry>
- <box size="0.012 0.132 0.022"/>
- </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/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro
deleted file mode 100644
index 191daa8..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro
+++ /dev/null
@@ -1,180 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:arg name="laser_visual" default="false"/>
- <xacro:arg name="camera_visual" default="false"/>
- <xacro:arg name="imu_visual" default="false"/>
-
- <gazebo reference="base_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
-
- <gazebo reference="wheel_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="wheel_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>500000.0</kp>
- <kd>10.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>0.1</maxVel>
- <fdir1>1 0 0</fdir1>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_right_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="caster_back_left_link">
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
-
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <gazebo>
- <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometrySource>world</odometrySource>
- <publishOdomTF>true</publishOdomTF>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <publishWheelTF>false</publishWheelTF>
- <publishTf>true</publishTf>
- <publishWheelJointState>true</publishWheelJointState>
- <legacyMode>false</legacyMode>
- <updateRate>30</updateRate>
- <leftJoint>wheel_left_joint</leftJoint>
- <rightJoint>wheel_right_joint</rightJoint>
- <wheelSeparation>0.287</wheelSeparation>
- <wheelDiameter>0.066</wheelDiameter>
- <wheelAcceleration>1</wheelAcceleration>
- <wheelTorque>10</wheelTorque>
- <rosDebugLevel>na</rosDebugLevel>
- </plugin>
- </gazebo>
-
- <gazebo>
- <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <bodyName>imu_link</bodyName>
- <frameName>imu_link</frameName>
- <topicName>imu</topicName>
- <serviceName>imu_service</serviceName>
- <gaussianNoise>0.0</gaussianNoise>
- <updateRate>200</updateRate>
- <imu>
- <noise>
- <type>gaussian</type>
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- </noise>
- </imu>
- </plugin>
- </gazebo>
-
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>3.5</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
-<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
- <gazebo reference="camera_rgb_frame">
- <sensor type="camera" name="Pi Camera">
- <always_on>true</always_on>
- <visualize>$(arg camera_visual)</visualize>
- <camera>
- <horizontal_fov>1.085595</horizontal_fov>
- <image>
- <width>640</width>
- <height>480</height>
- <format>R8G8B8</format>
- </image>
- <clip>
- <near>0.03</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>30.0</updateRate>
- <cameraName>camera</cameraName>
- <frameName>camera_rgb_optical_frame</frameName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro
deleted file mode 100644
index 46cf4a9..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro
+++ /dev/null
@@ -1,217 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
-
- <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_pi_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 0.0" 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="0.073 -0.011 0.084" rpy="0 0 0"/>
- <parent link="base_link"/>
- <child link="camera_link"/>
- </joint>
-
- <link name="camera_link">
- <collision>
- <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
- <geometry>
- <box size="0.015 0.030 0.027"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="camera_rgb_joint" type="fixed">
- <origin xyz="0.003 0.011 0.009" 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"/>
-
-</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
deleted file mode 100644
index f3c2b80..0000000
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
+++ /dev/null
@@ -1,217 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle_pi_for_open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
-
- <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_pi_base_for_open_manipulator.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 0.001 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="-0.024 0 0.122" rpy="0 0 0"/>
- </joint>
-
- <link name="base_scan">
- <visual>
- <origin xyz="0 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="0.045"/>
- </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="0.073 -0.011 0.084" rpy="0 0 0"/>
- <parent link="base_link"/>
- <child link="camera_link"/>
- </joint>
-
- <link name="camera_link">
- <collision>
- <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
- <geometry>
- <box size="0.015 0.030 0.027"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="camera_rgb_joint" type="fixed">
- <origin xyz="0.003 0.011 0.009" 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"/>
-
-</robot>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
index f10e1a1..97f7018 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
@@ -1,302 +1,98 @@
-import java.io.*;
-import java.util.*;
-
-import org.jdom2.*;
+import java.util.ArrayList;
+import java.util.List;
+import java.io.IOException;
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
/**
- * 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.
+ * Class that provides input/ output info and other variables an adapter may use
+ * by reading from featuremodel generated using FeatureModelConfigurator.
*/
-public class Adapter extends XMLHelper {
+public class Adapter extends UserSetIOReader {
+ //Hard coded input/ output (because the project directory is designed like this)
+ public final String in_fmName = "featuremodel.xml";
+ public final String in_fmPath = "./resources/output/";
+
+ private final String in_scPath = "./resources/input/sensorconfig/";
+ public final String scAutoPath = in_scPath+"autogenerated/";
+ public final String scOtherPath = in_scPath+"other/";
+
+ //Variables used exclusively by adapters
+ public final String mode;
+ public final List<Document> sensorConfigList;
+ public final String botName;
/**
- * Obtains an attribute value of the input/ output entries specified in adapter.config.
+ * Constructor defining a general adapter.
*
- * @param doc The JDOM Document (adapter.config)
- * @param entry String formed as "{input or output}/{entity}"
- * @param val Attribute name as String
- * @return path as specified in adapter.config
+ * When reading input, scAutoPath, scOtherPath and in_fmPath may contain other
+ * files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
*/
- private static String getConfigVal(Document doc, String str, String val) {
- List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
- if(valList.size()!=1) {
- System.err.println("Error while reading input/ output "+val+" value from adapter.config.");
+ public Adapter() throws JDOMException, IOException {
+ super();
+
+ Document featureModel = XMLHelper.readXml(in_fmPath+in_fmName);
+
+ //Get the selected mode (either NO_CHANGE or Custom) as String
+ List<Attribute> modeList = XMLHelper.xQueryAttributes(featureModel, "//mode/@param");
+ if(modeList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
}
-
- return valList.get(0).getValue();
- }
-
- /**
- * 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 GX_ENDING = ".gazebo.xacro";
- final String UX_ENDING = ".urdf.xacro";
-
- //######### Input ###############################
- Document adapterConfig = readXml("./adapter.config");
-
- //Get adapter.config values.
- String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
- String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
- String in_uxPath = getConfigVal(adapterConfig, "input/urdf_xacro", "path");
- String out_gxPath = getConfigVal(adapterConfig, "output/gazebo_xacro", "path");
- String out_uxPath = getConfigVal(adapterConfig, "output/urdf_xacro", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
-
- String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gxName = "";
- String in_uxName = "";
- String out_gxName = getConfigVal(adapterConfig, "output/gazebo_xacro", "name");
- String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
-
- String scAutoPath = in_scPath+"autogenerated/";
- String scOtherPath = in_scPath+"other/";
-
- String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
- String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
-
- //Declare Documents.
- 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 = "";
-
- List<Attribute> modeList = xQueryAttributes(featureModel, "//mode/@param");
- if(modeList.size()==1) {
- mode = modeList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
- System.exit(-1);
- }
-
- //Get all selected sensorconfig files as List<Document>.
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- List<Attribute> sensorList = xQueryAttributes(featureModel, "//sensor/@name");
-
-// List<String> scAutoList = getFileNames(scAutoPath);
-// List<String> scOtherList = getFileNames(scOtherPath);
-// List<String> scList = new ArrayList<String>();
-// scList.addAll(scAutoList);
-// scList.addAll(scOtherList);
-//
-// for(Attribute sensor : sensorList) {
-// boolean inDirectory = false;
-// for(String fileName : scList) {
-// if(fileName.equals(sensor.getValue()+SC_ENDING)) {
-// inDirectory = true;
-// }
-// }
-// if(!inDirectory) {
-// System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
-// System.exit(-1);
-// }
-// }
-
- for(Attribute sensor : sensorList) {
- String fileName = sensor.getValue()+SC_ENDING;
- List<String> fileMatches= findFile(fileName, in_scPath);
-
- if(fileMatches.isEmpty()) {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
- System.exit(-1);
- }
-
- if(fileMatches.size()==1) {
- sensorConfigList.add(readXml(fileMatches.get(0)));
- }
- else {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': Multiple input files found:");
- for(String match : fileMatches) {
- System.err.println("\'"+match+"\'");
- }
- System.exit(-1);
- }
- }
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ mode = modeList.get(0).getValue();
+
+ //Get the name of the selected bot as String
+ List<Attribute> botList = XMLHelper.xQueryAttributes(featureModel, "//templates/@name");
+ if(botList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
+ System.exit(-1);
+ }
+
+ botName = botList.get(0).getValue();
+
+ //Get all selected sensorconfig files as List<Document>
+ sensorConfigList = new ArrayList<Document>();
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ List<Attribute> selectedSensorList = XMLHelper.xQueryAttributes(featureModel, "//sensor/@name");
+
+ for(Attribute selectedSensor : selectedSensorList) {
+ String fileName = selectedSensor.getValue()+SC_ENDING;
+
+ List<String> fileMatchAutoList = XMLHelper.findFile(fileName, scAutoPath);
+ List<String> fileMatchOtherList = XMLHelper.findFile(fileName, scOtherPath);
+ List<String> fileMatchList = new ArrayList<String>();
+ fileMatchList.addAll(fileMatchAutoList);
+ fileMatchList.addAll(fileMatchOtherList);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+fileName+"\': No input file known.");
System.exit(-1);
- }
-
- //Get the name of the selected bot as String.
- String botName = "";
-
- List<Attribute> botList = xQueryAttributes(featureModel, "//templates/@name");
- if(botList.size()==1) {
- botName = botList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
- System.exit(-1);
- }
-
- //Get the selected .gazebo.xacro file as Document.
- in_gxName = botName+GX_ENDING;
-
- List<String> gxList = getFileNames(in_gxPath);
- boolean inDirectory = false;
- for(String fileName : gxList) {
- if(fileName.equals(in_gxName)) {
- inDirectory = true;
}
- }
- if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
- System.exit(-1);
- }
-
- gazeboModel = readXml(in_gxPath+in_gxName);
-
- //Get the corresponding .urdf.xacro file as Document.
- in_uxName = botName+UX_ENDING;
-
- List<String> urdfList = getFileNames(in_uxPath);
- 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_uxPath+in_uxName);
- //###############################################
-
-
- //######### Operate on .gazebo.xacro ############
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- //Remove all existing sensors in template.
- List<Element> removableSensorsList = xQueryElements(gazeboModel, "//sensor");
-
- for(Element sensor : removableSensorsList) {
- Element entry = sensor.getParentElement();
- if(entry.getName().equals("gazebo")) {
- entry.detach();
- }
- else {
- 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.");
- }
- }
-
- //Insert selected sensors into template.
- for(Document sensorConfig : sensorConfigList) {
- List<Element> sensorList = xQueryElements(sensorConfig, "//gazebo");
- if(sensorList.size()==1) {
- Element sensor = sensorList.get(0);
-
- //Warn if a sensor still contains $(arg ...) values.
- List<Element> tagList = xQueryElements(sensor, "//*");
- for(Element tag : tagList) {
- String text = tag.getText();
- if(text.contains("$")) {
- System.out.println("Warning: a sensorconfig file still contains an abstract value: \'"+text+
- "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
- }
- }
-
- sensor.detach();
- gazeboModel.getRootElement().addContent(sensor);
- }
- else {
- System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
- System.exit(-1);
- }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+fileName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
}
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
+ }
+
+ sensorConfigList.add(XMLHelper.readXml(fileMatchList.get(0)));
}
- //###############################################
-
-
- //######### 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 gxDestDirectoryName = (new File(out_gxPath)).getName();
- //includeList.get(0).setAttribute("filename", "$(find "+CommonPropDestDirectoryName+")/common_properties.xacro");//TODO
- includeList.get(1).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+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 sensor and 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 #######################
- //Output model files.
- saveAsXml(gazeboModel, out_gxPath+out_gxName);
-
- saveAsXml(urdfModel, out_uxPath+out_uxName);
-
- //Output botName.
- String alteredBotName = botName;
- if(alteredBotName.startsWith(unwantedPrefix)) {
- alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
- }
- else {
- System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
- }
- if(alteredBotName.endsWith(unwantedSuffix)) {
- alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
- }
- else {
- System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
- }
-
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(alteredBotName);
- bufferedWriter.close();
- //###############################################
- }
- catch (Exception e) {
- e.printStackTrace();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
}
-
- System.out.println("Adapter finished.");
}
}
-
-
-
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/BotNameAdapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/BotNameAdapter.java
new file mode 100644
index 0000000..56b91a9
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/BotNameAdapter.java
@@ -0,0 +1,67 @@
+import java.io.BufferedWriter;
+import java.io.FileWriter;
+import java.io.IOException;
+
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting the selected bots name.
+ */
+public class BotNameAdapter extends Adapter {
+ //Variables used exclusively by botName adapter
+ public final String alteredBotName;
+
+ /**
+ * Creates a runnable Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public BotNameAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the altered botName (botName with unwantedPrefix and unwantedSuffix removed)
+ String tmp = botName;
+ if(tmp.startsWith(unwantedPrefix)) {
+ tmp = tmp.substring(unwantedPrefix.length(), tmp.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
+ }
+ if(tmp.endsWith(unwantedSuffix)) {
+ tmp = tmp.substring(0, tmp.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
+ }
+
+ alteredBotName = tmp;
+ }
+
+ /**
+ * Run the Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("BotNameAdapter started.");
+
+ //Output alteredBotName
+ this.output();
+
+ System.out.println("BotNameAdapter finished.");
+ }
+
+ /**
+ * Output alteredBotName as "botname.txt"(out_bnName) file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(this.out_bnPath+this.out_bnName));
+ bufferedWriter.write(this.alteredBotName);
+ bufferedWriter.close();
+ }
+
+}
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
index 8cf93aa..e241cc6 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
@@ -104,8 +104,19 @@ public class Configurator {
return;
}
- //create and launch Adapter
- new Adapter();
+ //create and launch adapters
+ try {
+ GazeboAdapter oGazeboAdapter = new GazeboAdapter();
+ oGazeboAdapter.run();
+ UrdfAdapter oUrdfAdapter = new UrdfAdapter();
+ oUrdfAdapter.run();
+ BotNameAdapter oBotNameAdapter = new BotNameAdapter();
+ oBotNameAdapter.run();
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx);
+ return;
+ }
}
//get all parents of a given module from the Feature Model file
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/GazeboAdapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/GazeboAdapter.java
new file mode 100644
index 0000000..87237c3
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/GazeboAdapter.java
@@ -0,0 +1,155 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .gazebo.xacro file based on
+ * featuremodel info.
+ */
+public class GazeboAdapter extends Adapter {
+ //Variables used exclusively by .gazebo.xacro adapter
+ public final String in_gxName;
+ public final Document gazeboModel;
+
+ /**
+ * Creates a runnable Adapter for .gazebo.xacro files.
+ *
+ * When reading input in_gxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public GazeboAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .gazebo.xacro file name as String
+ in_gxName = botName+GX_ENDING;
+
+ //Get the selected .gazebo.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_gxName, in_gxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ gazeboModel = XMLHelper.readXml(fileMatchList.get(0));
+ }
+
+ /**
+ * Run the Adapter for .gazebo.xacro files.
+ * Depending on the selected mode, this Adapter will either:
+ * (NO_CHANGE) - Do nothing.
+ *
+ * (Custom) - Remove all existing sensors in gazeboModel template.
+ * - Insert only the selected sensors.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("GazeboAdapter started.");
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //Remove all existing sensors in template
+ this.removeExistingSensors();
+
+ //Insert selected sensors into template
+ this.insertSelectedSensors();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output gazeboModel
+ this.output();
+
+ System.out.println("GazeboAdapter finished.");
+ }
+
+ /**
+ * Removes all existing sensors (with its enclosing {@code <gazebo>} tag) from gazeboModel.
+ */
+ private void removeExistingSensors() {
+ List<Element> removableSensorsList = XMLHelper.xQueryElements(this.gazeboModel, "//sensor");
+
+ for(Element sensor : removableSensorsList) {
+ Element entry = sensor.getParentElement();
+ if(entry.getName().equals("gazebo")) {
+ entry.detach();
+ }
+ else {
+ System.out.println("Warning: Found a <sensor> element in \'"+this.in_gxName+
+ "\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
+ }
+ }
+ }
+
+ /**
+ * Inserts all selected sensors (with its enclosing {@code <gazebo>} tag) into gazeboModel.
+ */
+ private void insertSelectedSensors() {
+ for(Document sensorConfig : this.sensorConfigList) {
+ List<Element> sensorList = XMLHelper.xQueryElements(sensorConfig, "//gazebo");
+
+ if(sensorList.size()!=1) {
+ System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
+ System.exit(-1);
+ }
+
+ Element sensor = sensorList.get(0);
+
+ //Warn if a sensor still contains $(arg ...) values
+ checkForArg(sensor);
+
+ sensor.detach();
+ this.gazeboModel.getRootElement().addContent(sensor);
+
+
+ }
+ }
+
+ /**
+ * Checks if an Element still contains $(arg ...) values.
+ * Only exists because because someone might manually create a sensorconfig by copying
+ * from a .gazebo.xacro template and forget that $(arg ...) values are still inside.
+ */
+ private static boolean checkForArg(Element element) {
+ boolean detected = false;
+ List<Element> tagList = XMLHelper.xQueryElements(element, "//*");
+
+ for(Element tag : tagList) {
+ String text = tag.getText();
+ if(text.contains("$")) {
+ System.out.println("Warning: A sensorconfig file still contains an abstract value: \'"+text+
+ "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
+ detected = true;
+ }
+ }
+
+ return detected;
+ }
+
+ /**
+ * Output the gazeboModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.gazeboModel, this.out_gxPath+this.out_gxName);
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UrdfAdapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UrdfAdapter.java
new file mode 100644
index 0000000..5006bb5
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UrdfAdapter.java
@@ -0,0 +1,136 @@
+import java.util.List;
+import java.io.File;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.Namespace;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .urdf.xacro file based on
+ * featuremodel info.
+ */
+public class UrdfAdapter extends Adapter {
+ //Variables used exclusively by .urdf.xacro adapter
+ public final String in_uxName;
+ public final Document urdfModel;
+ public final Namespace NS;
+
+ /**
+ * Creates a runnable Adapter for .urdf.xacro files.
+ *
+ * When reading input in_uxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UrdfAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .urdf.xacro file name as String
+ in_uxName = botName+UX_ENDING;
+
+ //Get the selected .urdf.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_uxName, in_uxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ urdfModel = XMLHelper.readXml(fileMatchList.get(0));
+
+ //Get the "xacro" namespace of the .urdf.xacro document as Namespace
+ NS = urdfModel.getRootElement().getNamespace("xacro");
+ }
+
+ /**
+ * Run the Adapter for .urdf.xacro files.
+ *
+ * Sets the {@code <xacro:include>} tags.
+ * The links/ joints are not edited, as the precise visual bot representation is not
+ * important for this project.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("UrdfAdapter started.");
+
+ //Set <xacro:include> tags
+ this.setInclude();
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ /**
+ * 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> and <joint> tags.)
+ * This would require separate files with <link> and <joint> tags for each bot and sensor for the Adapter to access.
+ *
+ * For example, like this:
+ * The "autogenerated"/"other" directory gets one child directory for each bot.
+ * Each of these new directories contains one file for each sensorconfig with the building blocks
+ * to be inserted in .urdf.xacro, just like the sensorconfigs contain building blocks
+ * for the .gazebo.xacro files.
+ */
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output urdfModel
+ this.output();
+
+ System.out.println("UrdfAdapter finished.");
+ }
+
+ /**
+ * Sets {@code <xacro:include>} tags in urdfModel to correctly point to the files to be included.
+ */
+ private void setInclude() {
+ List<Element> includeList = XMLHelper.xQueryElements(this.urdfModel, "//xacro:include", this.NS);
+
+ if(includeList.size()!=2) {
+ System.err.println("Unexpected input in \'"+this.in_uxName+"\': Expected exactly 2 <xacro:include> tags.");
+ System.exit(-1);
+ }
+
+ int gxIndex;
+ int commonPropIndex;
+ if(includeList.get(0).getAttributeValue("filename").endsWith(GX_ENDING)) {
+ gxIndex = 0;
+ commonPropIndex = 1;
+ }
+ else {
+ gxIndex = 1;
+ commonPropIndex = 0;
+ }
+
+ String gxDestDirectoryName = (new File(this.out_gxPath)).getName();
+ includeList.get(gxIndex).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+this.out_gxName);
+
+ //The common_properties.xacro stays in its original directory, so this is not edited
+ //String commonPropDestDirectoryName = ;
+ //includeList.get(commonPropIndex).setAttribute("filename", "$(find "+commonPropDestDirectoryName+")/common_properties.xacro");
+ }
+
+ /**
+ * Output the urdfModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.urdfModel, this.out_uxPath+this.out_uxName);
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UserSetIOReader.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UserSetIOReader.java
new file mode 100644
index 0000000..409a517
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/UserSetIOReader.java
@@ -0,0 +1,88 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for reading input from usersetio.config.
+ */
+public class UserSetIOReader {
+ //File endings
+ public static final String SC_ENDING = ".xml";
+ public static final String GX_ENDING = ".gazebo.xacro";
+ public static final String UX_ENDING = ".urdf.xacro";
+
+ //Input/ output as defined by user
+ public final String in_gxPath;
+
+ public final String in_uxPath;
+
+ public final String out_gxName;
+ public final String out_gxPath;
+
+ public final String out_uxName;
+ public final String out_uxPath;
+
+ public final String out_bnName;
+ public final String out_bnPath;
+ public final String unwantedPrefix;
+ public final String unwantedSuffix;
+
+ /**
+ * Constructor reading from default usersetio.config location.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UserSetIOReader() throws JDOMException, IOException {
+ this("./../usersetio.config");
+ }
+
+ /**
+ * Constructor reading all values from usersetio.config.
+ * io.config contains all values that the user will want to set manually.
+ *
+ * @param path Location of usersetio.config.
+ * @throws IOException
+ * @throws JDOMException
+ */
+ private UserSetIOReader(String path) throws JDOMException, IOException {
+ Document config = XMLHelper.readXml(path);
+
+ in_gxPath = getConfigVal(config, "input/gazebo_xacro", "path");
+
+ in_uxPath = getConfigVal(config, "input/urdf_xacro", "path");
+
+ out_gxName = getConfigVal(config, "output/gazebo_xacro", "name");
+ out_gxPath = getConfigVal(config, "output/gazebo_xacro", "path");
+
+ out_uxName = getConfigVal(config, "output/urdf_xacro", "name");
+ out_uxPath = getConfigVal(config, "output/urdf_xacro", "path");
+
+ out_bnName = getConfigVal(config, "output/botname", "name");
+ out_bnPath = getConfigVal(config, "output/botname", "path");
+ unwantedPrefix = getConfigVal(config, "output/botname", "remove_prefix");
+ unwantedSuffix = getConfigVal(config, "output/botname", "remove_suffix");
+ }
+
+ /**
+ * Obtains an attribute value of the input/ output entries specified in *.config.
+ *
+ * @param doc The JDOM Document (*.config)
+ * @param entry String formed as "{input or output}/{entity}"
+ * @param val Attribute name as String
+ * @return XML-attribute specified in entry of doc (*.config) as String
+ */
+ public static String getConfigVal(Document doc, String entry, String val) {
+ List<Attribute> valList = XMLHelper.xQueryAttributes(doc, "//"+entry+"/@"+val);
+ if(valList.size()!=1) {
+ System.err.println("Error while reading input/ output \'"+val+"\' value from *.config.");
+ System.exit(-1);
+ }
+
+ return valList.get(0).getValue();
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
index 08c3067..36f589c 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
@@ -9,7 +9,6 @@ import org.jdom2.output.XMLOutputter;
import org.jdom2.xpath.*;
-
/**
* Contains methods based on JDOM and Jaxen library that help processing XML files and other misc ones.
*/
@@ -126,12 +125,13 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @return path to all file matches as List<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @return path to all file matches as {@code List<String>} (e.g. .../sensorconfig/other/imu.xml)
*/
public static List<String> findFile(String name, String path) {
List<String> accumulator = new ArrayList<String>();
+ findFile(name, path, accumulator);
- return findFile(name, path, accumulator);
+ return accumulator;
}
/**
@@ -139,23 +139,20 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @param result Accumulator for all file matches as List<String>
- * @return path to all file matches as list<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @param result Accumulator for all file matches as {@code List<String>}
*/
- private static List<String> findFile(String name, String path, List<String> result) {
+ private static void findFile(String name, String path, List<String> result) {
File element = new File(path);
File[] content = element.listFiles();
+ //content==null if it is not a directory
if(content != null) {
for(File file : content) {
- List<String> subResult = findFile(name, path+"/"+file.getName(), result);
- result.addAll(subResult);
+ findFile(name, path+"/"+file.getName(), result);
}
}
if(element.getName().equals(name)) {
- result.add(element.getName());
+ result.add(element.getPath());
}
-
- return result;
}
/**
@@ -455,12 +452,4 @@ public class XMLHelper {
return false;
}
-
- /**
- * @param args
- */
- public static void main(String[] args) {
-
- }
}
-
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml
index 8383bdc..d45c61c 100644
--- a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml
@@ -17,7 +17,7 @@
</scan>
<range>
<min>0.120</min>
- <max>16</max>
+ <max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
diff --git a/src/var/FeatureModelConfigurator/src/Adapter.java b/src/var/FeatureModelConfigurator/src/Adapter.java
index f10e1a1..97f7018 100644
--- a/src/var/FeatureModelConfigurator/src/Adapter.java
+++ b/src/var/FeatureModelConfigurator/src/Adapter.java
@@ -1,302 +1,98 @@
-import java.io.*;
-import java.util.*;
-
-import org.jdom2.*;
+import java.util.ArrayList;
+import java.util.List;
+import java.io.IOException;
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
/**
- * 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.
+ * Class that provides input/ output info and other variables an adapter may use
+ * by reading from featuremodel generated using FeatureModelConfigurator.
*/
-public class Adapter extends XMLHelper {
+public class Adapter extends UserSetIOReader {
+ //Hard coded input/ output (because the project directory is designed like this)
+ public final String in_fmName = "featuremodel.xml";
+ public final String in_fmPath = "./resources/output/";
+
+ private final String in_scPath = "./resources/input/sensorconfig/";
+ public final String scAutoPath = in_scPath+"autogenerated/";
+ public final String scOtherPath = in_scPath+"other/";
+
+ //Variables used exclusively by adapters
+ public final String mode;
+ public final List<Document> sensorConfigList;
+ public final String botName;
/**
- * Obtains an attribute value of the input/ output entries specified in adapter.config.
+ * Constructor defining a general adapter.
*
- * @param doc The JDOM Document (adapter.config)
- * @param entry String formed as "{input or output}/{entity}"
- * @param val Attribute name as String
- * @return path as specified in adapter.config
+ * When reading input, scAutoPath, scOtherPath and in_fmPath may contain other
+ * files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
*/
- private static String getConfigVal(Document doc, String str, String val) {
- List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
- if(valList.size()!=1) {
- System.err.println("Error while reading input/ output "+val+" value from adapter.config.");
+ public Adapter() throws JDOMException, IOException {
+ super();
+
+ Document featureModel = XMLHelper.readXml(in_fmPath+in_fmName);
+
+ //Get the selected mode (either NO_CHANGE or Custom) as String
+ List<Attribute> modeList = XMLHelper.xQueryAttributes(featureModel, "//mode/@param");
+ if(modeList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
}
-
- return valList.get(0).getValue();
- }
-
- /**
- * 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 GX_ENDING = ".gazebo.xacro";
- final String UX_ENDING = ".urdf.xacro";
-
- //######### Input ###############################
- Document adapterConfig = readXml("./adapter.config");
-
- //Get adapter.config values.
- String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
- String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
- String in_uxPath = getConfigVal(adapterConfig, "input/urdf_xacro", "path");
- String out_gxPath = getConfigVal(adapterConfig, "output/gazebo_xacro", "path");
- String out_uxPath = getConfigVal(adapterConfig, "output/urdf_xacro", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
-
- String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gxName = "";
- String in_uxName = "";
- String out_gxName = getConfigVal(adapterConfig, "output/gazebo_xacro", "name");
- String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
-
- String scAutoPath = in_scPath+"autogenerated/";
- String scOtherPath = in_scPath+"other/";
-
- String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
- String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
-
- //Declare Documents.
- 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 = "";
-
- List<Attribute> modeList = xQueryAttributes(featureModel, "//mode/@param");
- if(modeList.size()==1) {
- mode = modeList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
- System.exit(-1);
- }
-
- //Get all selected sensorconfig files as List<Document>.
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- List<Attribute> sensorList = xQueryAttributes(featureModel, "//sensor/@name");
-
-// List<String> scAutoList = getFileNames(scAutoPath);
-// List<String> scOtherList = getFileNames(scOtherPath);
-// List<String> scList = new ArrayList<String>();
-// scList.addAll(scAutoList);
-// scList.addAll(scOtherList);
-//
-// for(Attribute sensor : sensorList) {
-// boolean inDirectory = false;
-// for(String fileName : scList) {
-// if(fileName.equals(sensor.getValue()+SC_ENDING)) {
-// inDirectory = true;
-// }
-// }
-// if(!inDirectory) {
-// System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
-// System.exit(-1);
-// }
-// }
-
- for(Attribute sensor : sensorList) {
- String fileName = sensor.getValue()+SC_ENDING;
- List<String> fileMatches= findFile(fileName, in_scPath);
-
- if(fileMatches.isEmpty()) {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
- System.exit(-1);
- }
-
- if(fileMatches.size()==1) {
- sensorConfigList.add(readXml(fileMatches.get(0)));
- }
- else {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': Multiple input files found:");
- for(String match : fileMatches) {
- System.err.println("\'"+match+"\'");
- }
- System.exit(-1);
- }
- }
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ mode = modeList.get(0).getValue();
+
+ //Get the name of the selected bot as String
+ List<Attribute> botList = XMLHelper.xQueryAttributes(featureModel, "//templates/@name");
+ if(botList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
+ System.exit(-1);
+ }
+
+ botName = botList.get(0).getValue();
+
+ //Get all selected sensorconfig files as List<Document>
+ sensorConfigList = new ArrayList<Document>();
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ List<Attribute> selectedSensorList = XMLHelper.xQueryAttributes(featureModel, "//sensor/@name");
+
+ for(Attribute selectedSensor : selectedSensorList) {
+ String fileName = selectedSensor.getValue()+SC_ENDING;
+
+ List<String> fileMatchAutoList = XMLHelper.findFile(fileName, scAutoPath);
+ List<String> fileMatchOtherList = XMLHelper.findFile(fileName, scOtherPath);
+ List<String> fileMatchList = new ArrayList<String>();
+ fileMatchList.addAll(fileMatchAutoList);
+ fileMatchList.addAll(fileMatchOtherList);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+fileName+"\': No input file known.");
System.exit(-1);
- }
-
- //Get the name of the selected bot as String.
- String botName = "";
-
- List<Attribute> botList = xQueryAttributes(featureModel, "//templates/@name");
- if(botList.size()==1) {
- botName = botList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
- System.exit(-1);
- }
-
- //Get the selected .gazebo.xacro file as Document.
- in_gxName = botName+GX_ENDING;
-
- List<String> gxList = getFileNames(in_gxPath);
- boolean inDirectory = false;
- for(String fileName : gxList) {
- if(fileName.equals(in_gxName)) {
- inDirectory = true;
}
- }
- if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
- System.exit(-1);
- }
-
- gazeboModel = readXml(in_gxPath+in_gxName);
-
- //Get the corresponding .urdf.xacro file as Document.
- in_uxName = botName+UX_ENDING;
-
- List<String> urdfList = getFileNames(in_uxPath);
- 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_uxPath+in_uxName);
- //###############################################
-
-
- //######### Operate on .gazebo.xacro ############
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- //Remove all existing sensors in template.
- List<Element> removableSensorsList = xQueryElements(gazeboModel, "//sensor");
-
- for(Element sensor : removableSensorsList) {
- Element entry = sensor.getParentElement();
- if(entry.getName().equals("gazebo")) {
- entry.detach();
- }
- else {
- 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.");
- }
- }
-
- //Insert selected sensors into template.
- for(Document sensorConfig : sensorConfigList) {
- List<Element> sensorList = xQueryElements(sensorConfig, "//gazebo");
- if(sensorList.size()==1) {
- Element sensor = sensorList.get(0);
-
- //Warn if a sensor still contains $(arg ...) values.
- List<Element> tagList = xQueryElements(sensor, "//*");
- for(Element tag : tagList) {
- String text = tag.getText();
- if(text.contains("$")) {
- System.out.println("Warning: a sensorconfig file still contains an abstract value: \'"+text+
- "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
- }
- }
-
- sensor.detach();
- gazeboModel.getRootElement().addContent(sensor);
- }
- else {
- System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
- System.exit(-1);
- }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+fileName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
}
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
+ }
+
+ sensorConfigList.add(XMLHelper.readXml(fileMatchList.get(0)));
}
- //###############################################
-
-
- //######### 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 gxDestDirectoryName = (new File(out_gxPath)).getName();
- //includeList.get(0).setAttribute("filename", "$(find "+CommonPropDestDirectoryName+")/common_properties.xacro");//TODO
- includeList.get(1).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+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 sensor and 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 #######################
- //Output model files.
- saveAsXml(gazeboModel, out_gxPath+out_gxName);
-
- saveAsXml(urdfModel, out_uxPath+out_uxName);
-
- //Output botName.
- String alteredBotName = botName;
- if(alteredBotName.startsWith(unwantedPrefix)) {
- alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
- }
- else {
- System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
- }
- if(alteredBotName.endsWith(unwantedSuffix)) {
- alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
- }
- else {
- System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
- }
-
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(alteredBotName);
- bufferedWriter.close();
- //###############################################
- }
- catch (Exception e) {
- e.printStackTrace();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
}
-
- System.out.println("Adapter finished.");
}
}
-
-
-
diff --git a/src/var/FeatureModelConfigurator/src/BotNameAdapter.java b/src/var/FeatureModelConfigurator/src/BotNameAdapter.java
new file mode 100644
index 0000000..56b91a9
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/src/BotNameAdapter.java
@@ -0,0 +1,67 @@
+import java.io.BufferedWriter;
+import java.io.FileWriter;
+import java.io.IOException;
+
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting the selected bots name.
+ */
+public class BotNameAdapter extends Adapter {
+ //Variables used exclusively by botName adapter
+ public final String alteredBotName;
+
+ /**
+ * Creates a runnable Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public BotNameAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the altered botName (botName with unwantedPrefix and unwantedSuffix removed)
+ String tmp = botName;
+ if(tmp.startsWith(unwantedPrefix)) {
+ tmp = tmp.substring(unwantedPrefix.length(), tmp.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
+ }
+ if(tmp.endsWith(unwantedSuffix)) {
+ tmp = tmp.substring(0, tmp.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
+ }
+
+ alteredBotName = tmp;
+ }
+
+ /**
+ * Run the Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("BotNameAdapter started.");
+
+ //Output alteredBotName
+ this.output();
+
+ System.out.println("BotNameAdapter finished.");
+ }
+
+ /**
+ * Output alteredBotName as "botname.txt"(out_bnName) file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(this.out_bnPath+this.out_bnName));
+ bufferedWriter.write(this.alteredBotName);
+ bufferedWriter.close();
+ }
+
+}
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index 4e48e00..b8dfb6a 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -106,8 +106,19 @@ abstract class Configurator$$ConfiguratorMain {
return;
}
- //create and launch Adapter
- new Adapter();
+ //create and launch adapters
+ try {
+ GazeboAdapter oGazeboAdapter = new GazeboAdapter();
+ oGazeboAdapter.run();
+ UrdfAdapter oUrdfAdapter = new UrdfAdapter();
+ oUrdfAdapter.run();
+ BotNameAdapter oBotNameAdapter = new BotNameAdapter();
+ oBotNameAdapter.run();
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx);
+ return;
+ }
}
//get all parents of a given module from the Feature Model file
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index ee822aa..3c33295 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -106,8 +106,19 @@ abstract class Configurator$$ConfiguratorMain {
return;
}
- //create and launch Adapter
- new Adapter();
+ //create and launch adapters
+ try {
+ GazeboAdapter oGazeboAdapter = new GazeboAdapter();
+ oGazeboAdapter.run();
+ UrdfAdapter oUrdfAdapter = new UrdfAdapter();
+ oUrdfAdapter.run();
+ BotNameAdapter oBotNameAdapter = new BotNameAdapter();
+ oBotNameAdapter.run();
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx);
+ return;
+ }
}
//get all parents of a given module from the Feature Model file
diff --git a/src/var/FeatureModelConfigurator/src/GazeboAdapter.java b/src/var/FeatureModelConfigurator/src/GazeboAdapter.java
new file mode 100644
index 0000000..87237c3
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/src/GazeboAdapter.java
@@ -0,0 +1,155 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .gazebo.xacro file based on
+ * featuremodel info.
+ */
+public class GazeboAdapter extends Adapter {
+ //Variables used exclusively by .gazebo.xacro adapter
+ public final String in_gxName;
+ public final Document gazeboModel;
+
+ /**
+ * Creates a runnable Adapter for .gazebo.xacro files.
+ *
+ * When reading input in_gxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public GazeboAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .gazebo.xacro file name as String
+ in_gxName = botName+GX_ENDING;
+
+ //Get the selected .gazebo.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_gxName, in_gxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ gazeboModel = XMLHelper.readXml(fileMatchList.get(0));
+ }
+
+ /**
+ * Run the Adapter for .gazebo.xacro files.
+ * Depending on the selected mode, this Adapter will either:
+ * (NO_CHANGE) - Do nothing.
+ *
+ * (Custom) - Remove all existing sensors in gazeboModel template.
+ * - Insert only the selected sensors.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("GazeboAdapter started.");
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //Remove all existing sensors in template
+ this.removeExistingSensors();
+
+ //Insert selected sensors into template
+ this.insertSelectedSensors();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output gazeboModel
+ this.output();
+
+ System.out.println("GazeboAdapter finished.");
+ }
+
+ /**
+ * Removes all existing sensors (with its enclosing {@code <gazebo>} tag) from gazeboModel.
+ */
+ private void removeExistingSensors() {
+ List<Element> removableSensorsList = XMLHelper.xQueryElements(this.gazeboModel, "//sensor");
+
+ for(Element sensor : removableSensorsList) {
+ Element entry = sensor.getParentElement();
+ if(entry.getName().equals("gazebo")) {
+ entry.detach();
+ }
+ else {
+ System.out.println("Warning: Found a <sensor> element in \'"+this.in_gxName+
+ "\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
+ }
+ }
+ }
+
+ /**
+ * Inserts all selected sensors (with its enclosing {@code <gazebo>} tag) into gazeboModel.
+ */
+ private void insertSelectedSensors() {
+ for(Document sensorConfig : this.sensorConfigList) {
+ List<Element> sensorList = XMLHelper.xQueryElements(sensorConfig, "//gazebo");
+
+ if(sensorList.size()!=1) {
+ System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
+ System.exit(-1);
+ }
+
+ Element sensor = sensorList.get(0);
+
+ //Warn if a sensor still contains $(arg ...) values
+ checkForArg(sensor);
+
+ sensor.detach();
+ this.gazeboModel.getRootElement().addContent(sensor);
+
+
+ }
+ }
+
+ /**
+ * Checks if an Element still contains $(arg ...) values.
+ * Only exists because because someone might manually create a sensorconfig by copying
+ * from a .gazebo.xacro template and forget that $(arg ...) values are still inside.
+ */
+ private static boolean checkForArg(Element element) {
+ boolean detected = false;
+ List<Element> tagList = XMLHelper.xQueryElements(element, "//*");
+
+ for(Element tag : tagList) {
+ String text = tag.getText();
+ if(text.contains("$")) {
+ System.out.println("Warning: A sensorconfig file still contains an abstract value: \'"+text+
+ "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
+ detected = true;
+ }
+ }
+
+ return detected;
+ }
+
+ /**
+ * Output the gazeboModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.gazeboModel, this.out_gxPath+this.out_gxName);
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/src/UrdfAdapter.java b/src/var/FeatureModelConfigurator/src/UrdfAdapter.java
new file mode 100644
index 0000000..5006bb5
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/src/UrdfAdapter.java
@@ -0,0 +1,136 @@
+import java.util.List;
+import java.io.File;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.Namespace;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .urdf.xacro file based on
+ * featuremodel info.
+ */
+public class UrdfAdapter extends Adapter {
+ //Variables used exclusively by .urdf.xacro adapter
+ public final String in_uxName;
+ public final Document urdfModel;
+ public final Namespace NS;
+
+ /**
+ * Creates a runnable Adapter for .urdf.xacro files.
+ *
+ * When reading input in_uxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UrdfAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .urdf.xacro file name as String
+ in_uxName = botName+UX_ENDING;
+
+ //Get the selected .urdf.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_uxName, in_uxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ urdfModel = XMLHelper.readXml(fileMatchList.get(0));
+
+ //Get the "xacro" namespace of the .urdf.xacro document as Namespace
+ NS = urdfModel.getRootElement().getNamespace("xacro");
+ }
+
+ /**
+ * Run the Adapter for .urdf.xacro files.
+ *
+ * Sets the {@code <xacro:include>} tags.
+ * The links/ joints are not edited, as the precise visual bot representation is not
+ * important for this project.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("UrdfAdapter started.");
+
+ //Set <xacro:include> tags
+ this.setInclude();
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ /**
+ * 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> and <joint> tags.)
+ * This would require separate files with <link> and <joint> tags for each bot and sensor for the Adapter to access.
+ *
+ * For example, like this:
+ * The "autogenerated"/"other" directory gets one child directory for each bot.
+ * Each of these new directories contains one file for each sensorconfig with the building blocks
+ * to be inserted in .urdf.xacro, just like the sensorconfigs contain building blocks
+ * for the .gazebo.xacro files.
+ */
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output urdfModel
+ this.output();
+
+ System.out.println("UrdfAdapter finished.");
+ }
+
+ /**
+ * Sets {@code <xacro:include>} tags in urdfModel to correctly point to the files to be included.
+ */
+ private void setInclude() {
+ List<Element> includeList = XMLHelper.xQueryElements(this.urdfModel, "//xacro:include", this.NS);
+
+ if(includeList.size()!=2) {
+ System.err.println("Unexpected input in \'"+this.in_uxName+"\': Expected exactly 2 <xacro:include> tags.");
+ System.exit(-1);
+ }
+
+ int gxIndex;
+ int commonPropIndex;
+ if(includeList.get(0).getAttributeValue("filename").endsWith(GX_ENDING)) {
+ gxIndex = 0;
+ commonPropIndex = 1;
+ }
+ else {
+ gxIndex = 1;
+ commonPropIndex = 0;
+ }
+
+ String gxDestDirectoryName = (new File(this.out_gxPath)).getName();
+ includeList.get(gxIndex).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+this.out_gxName);
+
+ //The common_properties.xacro stays in its original directory, so this is not edited
+ //String commonPropDestDirectoryName = ;
+ //includeList.get(commonPropIndex).setAttribute("filename", "$(find "+commonPropDestDirectoryName+")/common_properties.xacro");
+ }
+
+ /**
+ * Output the urdfModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.urdfModel, this.out_uxPath+this.out_uxName);
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/src/UserSetIOReader.java b/src/var/FeatureModelConfigurator/src/UserSetIOReader.java
new file mode 100644
index 0000000..409a517
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/src/UserSetIOReader.java
@@ -0,0 +1,88 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for reading input from usersetio.config.
+ */
+public class UserSetIOReader {
+ //File endings
+ public static final String SC_ENDING = ".xml";
+ public static final String GX_ENDING = ".gazebo.xacro";
+ public static final String UX_ENDING = ".urdf.xacro";
+
+ //Input/ output as defined by user
+ public final String in_gxPath;
+
+ public final String in_uxPath;
+
+ public final String out_gxName;
+ public final String out_gxPath;
+
+ public final String out_uxName;
+ public final String out_uxPath;
+
+ public final String out_bnName;
+ public final String out_bnPath;
+ public final String unwantedPrefix;
+ public final String unwantedSuffix;
+
+ /**
+ * Constructor reading from default usersetio.config location.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UserSetIOReader() throws JDOMException, IOException {
+ this("./../usersetio.config");
+ }
+
+ /**
+ * Constructor reading all values from usersetio.config.
+ * io.config contains all values that the user will want to set manually.
+ *
+ * @param path Location of usersetio.config.
+ * @throws IOException
+ * @throws JDOMException
+ */
+ private UserSetIOReader(String path) throws JDOMException, IOException {
+ Document config = XMLHelper.readXml(path);
+
+ in_gxPath = getConfigVal(config, "input/gazebo_xacro", "path");
+
+ in_uxPath = getConfigVal(config, "input/urdf_xacro", "path");
+
+ out_gxName = getConfigVal(config, "output/gazebo_xacro", "name");
+ out_gxPath = getConfigVal(config, "output/gazebo_xacro", "path");
+
+ out_uxName = getConfigVal(config, "output/urdf_xacro", "name");
+ out_uxPath = getConfigVal(config, "output/urdf_xacro", "path");
+
+ out_bnName = getConfigVal(config, "output/botname", "name");
+ out_bnPath = getConfigVal(config, "output/botname", "path");
+ unwantedPrefix = getConfigVal(config, "output/botname", "remove_prefix");
+ unwantedSuffix = getConfigVal(config, "output/botname", "remove_suffix");
+ }
+
+ /**
+ * Obtains an attribute value of the input/ output entries specified in *.config.
+ *
+ * @param doc The JDOM Document (*.config)
+ * @param entry String formed as "{input or output}/{entity}"
+ * @param val Attribute name as String
+ * @return XML-attribute specified in entry of doc (*.config) as String
+ */
+ public static String getConfigVal(Document doc, String entry, String val) {
+ List<Attribute> valList = XMLHelper.xQueryAttributes(doc, "//"+entry+"/@"+val);
+ if(valList.size()!=1) {
+ System.err.println("Error while reading input/ output \'"+val+"\' value from *.config.");
+ System.exit(-1);
+ }
+
+ return valList.get(0).getValue();
+ }
+}
diff --git a/src/var/FeatureModelConfigurator/src/XMLHelper.java b/src/var/FeatureModelConfigurator/src/XMLHelper.java
index 08c3067..36f589c 100644
--- a/src/var/FeatureModelConfigurator/src/XMLHelper.java
+++ b/src/var/FeatureModelConfigurator/src/XMLHelper.java
@@ -9,7 +9,6 @@ import org.jdom2.output.XMLOutputter;
import org.jdom2.xpath.*;
-
/**
* Contains methods based on JDOM and Jaxen library that help processing XML files and other misc ones.
*/
@@ -126,12 +125,13 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @return path to all file matches as List<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @return path to all file matches as {@code List<String>} (e.g. .../sensorconfig/other/imu.xml)
*/
public static List<String> findFile(String name, String path) {
List<String> accumulator = new ArrayList<String>();
+ findFile(name, path, accumulator);
- return findFile(name, path, accumulator);
+ return accumulator;
}
/**
@@ -139,23 +139,20 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @param result Accumulator for all file matches as List<String>
- * @return path to all file matches as list<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @param result Accumulator for all file matches as {@code List<String>}
*/
- private static List<String> findFile(String name, String path, List<String> result) {
+ private static void findFile(String name, String path, List<String> result) {
File element = new File(path);
File[] content = element.listFiles();
+ //content==null if it is not a directory
if(content != null) {
for(File file : content) {
- List<String> subResult = findFile(name, path+"/"+file.getName(), result);
- result.addAll(subResult);
+ findFile(name, path+"/"+file.getName(), result);
}
}
if(element.getName().equals(name)) {
- result.add(element.getName());
+ result.add(element.getPath());
}
-
- return result;
}
/**
@@ -455,12 +452,4 @@ public class XMLHelper {
return false;
}
-
- /**
- * @param args
- */
- public static void main(String[] args) {
-
- }
}
-
diff --git a/src/var/FeatureModelImplGenerator/modelsetup.config b/src/var/FeatureModelImplGenerator/modelsetup.config
deleted file mode 100644
index dc02769..0000000
--- a/src/var/FeatureModelImplGenerator/modelsetup.config
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<!-- ModelSetup configuration file. -->
-<!-- Path (relative path to ModelSetup.java location) and name value can be changed. -->
-<modelsetup>
- <input>
- <!-- Path to and name of model template for Feature IDE. -->
- <model type="file" name="modelTemplate.xml" path="./template/" />
- <!-- Path to all available sensor configuration .xml files. -->
- <!-- Files with other endings are allowed and will be ignored. -->
- <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. -->
- <gazebo_xacro type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/" />
- </input>
- <output>
- <!-- Path to and name of the generated Feature IDE model file. -->
- <model type="file" name="model.xml" path="./../FeatureModelConfigurator/" />
- </output>
-</modelsetup>
diff --git a/src/var/FeatureModelImplGenerator/src/Adapter.java b/src/var/FeatureModelImplGenerator/src/Adapter.java
index f10e1a1..97f7018 100644
--- a/src/var/FeatureModelImplGenerator/src/Adapter.java
+++ b/src/var/FeatureModelImplGenerator/src/Adapter.java
@@ -1,302 +1,98 @@
-import java.io.*;
-import java.util.*;
-
-import org.jdom2.*;
+import java.util.ArrayList;
+import java.util.List;
+import java.io.IOException;
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
/**
- * 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.
+ * Class that provides input/ output info and other variables an adapter may use
+ * by reading from featuremodel generated using FeatureModelConfigurator.
*/
-public class Adapter extends XMLHelper {
+public class Adapter extends UserSetIOReader {
+ //Hard coded input/ output (because the project directory is designed like this)
+ public final String in_fmName = "featuremodel.xml";
+ public final String in_fmPath = "./resources/output/";
+
+ private final String in_scPath = "./resources/input/sensorconfig/";
+ public final String scAutoPath = in_scPath+"autogenerated/";
+ public final String scOtherPath = in_scPath+"other/";
+
+ //Variables used exclusively by adapters
+ public final String mode;
+ public final List<Document> sensorConfigList;
+ public final String botName;
/**
- * Obtains an attribute value of the input/ output entries specified in adapter.config.
+ * Constructor defining a general adapter.
*
- * @param doc The JDOM Document (adapter.config)
- * @param entry String formed as "{input or output}/{entity}"
- * @param val Attribute name as String
- * @return path as specified in adapter.config
+ * When reading input, scAutoPath, scOtherPath and in_fmPath may contain other
+ * files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
*/
- private static String getConfigVal(Document doc, String str, String val) {
- List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
- if(valList.size()!=1) {
- System.err.println("Error while reading input/ output "+val+" value from adapter.config.");
+ public Adapter() throws JDOMException, IOException {
+ super();
+
+ Document featureModel = XMLHelper.readXml(in_fmPath+in_fmName);
+
+ //Get the selected mode (either NO_CHANGE or Custom) as String
+ List<Attribute> modeList = XMLHelper.xQueryAttributes(featureModel, "//mode/@param");
+ if(modeList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
}
-
- return valList.get(0).getValue();
- }
-
- /**
- * 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 GX_ENDING = ".gazebo.xacro";
- final String UX_ENDING = ".urdf.xacro";
-
- //######### Input ###############################
- Document adapterConfig = readXml("./adapter.config");
-
- //Get adapter.config values.
- String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
- String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
- String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
- String in_uxPath = getConfigVal(adapterConfig, "input/urdf_xacro", "path");
- String out_gxPath = getConfigVal(adapterConfig, "output/gazebo_xacro", "path");
- String out_uxPath = getConfigVal(adapterConfig, "output/urdf_xacro", "path");
- String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
-
- String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
- String in_gxName = "";
- String in_uxName = "";
- String out_gxName = getConfigVal(adapterConfig, "output/gazebo_xacro", "name");
- String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
- String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
-
- String scAutoPath = in_scPath+"autogenerated/";
- String scOtherPath = in_scPath+"other/";
-
- String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
- String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
-
- //Declare Documents.
- 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 = "";
-
- List<Attribute> modeList = xQueryAttributes(featureModel, "//mode/@param");
- if(modeList.size()==1) {
- mode = modeList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
- System.exit(-1);
- }
-
- //Get all selected sensorconfig files as List<Document>.
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- List<Attribute> sensorList = xQueryAttributes(featureModel, "//sensor/@name");
-
-// List<String> scAutoList = getFileNames(scAutoPath);
-// List<String> scOtherList = getFileNames(scOtherPath);
-// List<String> scList = new ArrayList<String>();
-// scList.addAll(scAutoList);
-// scList.addAll(scOtherList);
-//
-// for(Attribute sensor : sensorList) {
-// boolean inDirectory = false;
-// for(String fileName : scList) {
-// if(fileName.equals(sensor.getValue()+SC_ENDING)) {
-// inDirectory = true;
-// }
-// }
-// if(!inDirectory) {
-// System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
-// System.exit(-1);
-// }
-// }
-
- for(Attribute sensor : sensorList) {
- String fileName = sensor.getValue()+SC_ENDING;
- List<String> fileMatches= findFile(fileName, in_scPath);
-
- if(fileMatches.isEmpty()) {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
- System.exit(-1);
- }
-
- if(fileMatches.size()==1) {
- sensorConfigList.add(readXml(fileMatches.get(0)));
- }
- else {
- System.err.println("Cannot handle \'"+sensor.getValue()+"\': Multiple input files found:");
- for(String match : fileMatches) {
- System.err.println("\'"+match+"\'");
- }
- System.exit(-1);
- }
- }
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ mode = modeList.get(0).getValue();
+
+ //Get the name of the selected bot as String
+ List<Attribute> botList = XMLHelper.xQueryAttributes(featureModel, "//templates/@name");
+ if(botList.size()!=1) {
+ System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
+ System.exit(-1);
+ }
+
+ botName = botList.get(0).getValue();
+
+ //Get all selected sensorconfig files as List<Document>
+ sensorConfigList = new ArrayList<Document>();
+
+ switch(mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ List<Attribute> selectedSensorList = XMLHelper.xQueryAttributes(featureModel, "//sensor/@name");
+
+ for(Attribute selectedSensor : selectedSensorList) {
+ String fileName = selectedSensor.getValue()+SC_ENDING;
+
+ List<String> fileMatchAutoList = XMLHelper.findFile(fileName, scAutoPath);
+ List<String> fileMatchOtherList = XMLHelper.findFile(fileName, scOtherPath);
+ List<String> fileMatchList = new ArrayList<String>();
+ fileMatchList.addAll(fileMatchAutoList);
+ fileMatchList.addAll(fileMatchOtherList);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+fileName+"\': No input file known.");
System.exit(-1);
- }
-
- //Get the name of the selected bot as String.
- String botName = "";
-
- List<Attribute> botList = xQueryAttributes(featureModel, "//templates/@name");
- if(botList.size()==1) {
- botName = botList.get(0).getValue();
- }
- else {
- System.err.println("Invalid input in \'"+in_fmName+"\': No or multiple bots selected.");
- System.exit(-1);
- }
-
- //Get the selected .gazebo.xacro file as Document.
- in_gxName = botName+GX_ENDING;
-
- List<String> gxList = getFileNames(in_gxPath);
- boolean inDirectory = false;
- for(String fileName : gxList) {
- if(fileName.equals(in_gxName)) {
- inDirectory = true;
}
- }
- if(!inDirectory) {
- System.err.println("Cannot handle \'"+botName+"\': No \'"+GX_ENDING+"\' input file known.");
- System.exit(-1);
- }
-
- gazeboModel = readXml(in_gxPath+in_gxName);
-
- //Get the corresponding .urdf.xacro file as Document.
- in_uxName = botName+UX_ENDING;
-
- List<String> urdfList = getFileNames(in_uxPath);
- 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_uxPath+in_uxName);
- //###############################################
-
-
- //######### Operate on .gazebo.xacro ############
- switch(mode) {
- case "NO_CHANGE":
- break;
- case "Custom":
- //Remove all existing sensors in template.
- List<Element> removableSensorsList = xQueryElements(gazeboModel, "//sensor");
-
- for(Element sensor : removableSensorsList) {
- Element entry = sensor.getParentElement();
- if(entry.getName().equals("gazebo")) {
- entry.detach();
- }
- else {
- 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.");
- }
- }
-
- //Insert selected sensors into template.
- for(Document sensorConfig : sensorConfigList) {
- List<Element> sensorList = xQueryElements(sensorConfig, "//gazebo");
- if(sensorList.size()==1) {
- Element sensor = sensorList.get(0);
-
- //Warn if a sensor still contains $(arg ...) values.
- List<Element> tagList = xQueryElements(sensor, "//*");
- for(Element tag : tagList) {
- String text = tag.getText();
- if(text.contains("$")) {
- System.out.println("Warning: a sensorconfig file still contains an abstract value: \'"+text+
- "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
- }
- }
-
- sensor.detach();
- gazeboModel.getRootElement().addContent(sensor);
- }
- else {
- System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
- System.exit(-1);
- }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+fileName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
}
- break;
- default:
- System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
System.exit(-1);
+ }
+
+ sensorConfigList.add(XMLHelper.readXml(fileMatchList.get(0)));
}
- //###############################################
-
-
- //######### 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 gxDestDirectoryName = (new File(out_gxPath)).getName();
- //includeList.get(0).setAttribute("filename", "$(find "+CommonPropDestDirectoryName+")/common_properties.xacro");//TODO
- includeList.get(1).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+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 sensor and 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 #######################
- //Output model files.
- saveAsXml(gazeboModel, out_gxPath+out_gxName);
-
- saveAsXml(urdfModel, out_uxPath+out_uxName);
-
- //Output botName.
- String alteredBotName = botName;
- if(alteredBotName.startsWith(unwantedPrefix)) {
- alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
- }
- else {
- System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
- }
- if(alteredBotName.endsWith(unwantedSuffix)) {
- alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
- }
- else {
- System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
- }
-
- BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(alteredBotName);
- bufferedWriter.close();
- //###############################################
- }
- catch (Exception e) {
- e.printStackTrace();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
}
-
- System.out.println("Adapter finished.");
}
}
-
-
-
diff --git a/src/var/FeatureModelImplGenerator/src/BotNameAdapter.java b/src/var/FeatureModelImplGenerator/src/BotNameAdapter.java
new file mode 100644
index 0000000..56b91a9
--- /dev/null
+++ b/src/var/FeatureModelImplGenerator/src/BotNameAdapter.java
@@ -0,0 +1,67 @@
+import java.io.BufferedWriter;
+import java.io.FileWriter;
+import java.io.IOException;
+
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting the selected bots name.
+ */
+public class BotNameAdapter extends Adapter {
+ //Variables used exclusively by botName adapter
+ public final String alteredBotName;
+
+ /**
+ * Creates a runnable Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public BotNameAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the altered botName (botName with unwantedPrefix and unwantedSuffix removed)
+ String tmp = botName;
+ if(tmp.startsWith(unwantedPrefix)) {
+ tmp = tmp.substring(unwantedPrefix.length(), tmp.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+"\' could not be removed from bot name.");
+ }
+ if(tmp.endsWith(unwantedSuffix)) {
+ tmp = tmp.substring(0, tmp.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Suffix \'"+unwantedSuffix+"\' could not be removed from bot name.");
+ }
+
+ alteredBotName = tmp;
+ }
+
+ /**
+ * Run the Adapter for the "botname.txt"(out_bnName) output file.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("BotNameAdapter started.");
+
+ //Output alteredBotName
+ this.output();
+
+ System.out.println("BotNameAdapter finished.");
+ }
+
+ /**
+ * Output alteredBotName as "botname.txt"(out_bnName) file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(this.out_bnPath+this.out_bnName));
+ bufferedWriter.write(this.alteredBotName);
+ bufferedWriter.close();
+ }
+
+}
diff --git a/src/var/FeatureModelImplGenerator/src/GazeboAdapter.java b/src/var/FeatureModelImplGenerator/src/GazeboAdapter.java
new file mode 100644
index 0000000..87237c3
--- /dev/null
+++ b/src/var/FeatureModelImplGenerator/src/GazeboAdapter.java
@@ -0,0 +1,155 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .gazebo.xacro file based on
+ * featuremodel info.
+ */
+public class GazeboAdapter extends Adapter {
+ //Variables used exclusively by .gazebo.xacro adapter
+ public final String in_gxName;
+ public final Document gazeboModel;
+
+ /**
+ * Creates a runnable Adapter for .gazebo.xacro files.
+ *
+ * When reading input in_gxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public GazeboAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .gazebo.xacro file name as String
+ in_gxName = botName+GX_ENDING;
+
+ //Get the selected .gazebo.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_gxName, in_gxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_gxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ gazeboModel = XMLHelper.readXml(fileMatchList.get(0));
+ }
+
+ /**
+ * Run the Adapter for .gazebo.xacro files.
+ * Depending on the selected mode, this Adapter will either:
+ * (NO_CHANGE) - Do nothing.
+ *
+ * (Custom) - Remove all existing sensors in gazeboModel template.
+ * - Insert only the selected sensors.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("GazeboAdapter started.");
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ //Remove all existing sensors in template
+ this.removeExistingSensors();
+
+ //Insert selected sensors into template
+ this.insertSelectedSensors();
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output gazeboModel
+ this.output();
+
+ System.out.println("GazeboAdapter finished.");
+ }
+
+ /**
+ * Removes all existing sensors (with its enclosing {@code <gazebo>} tag) from gazeboModel.
+ */
+ private void removeExistingSensors() {
+ List<Element> removableSensorsList = XMLHelper.xQueryElements(this.gazeboModel, "//sensor");
+
+ for(Element sensor : removableSensorsList) {
+ Element entry = sensor.getParentElement();
+ if(entry.getName().equals("gazebo")) {
+ entry.detach();
+ }
+ else {
+ System.out.println("Warning: Found a <sensor> element in \'"+this.in_gxName+
+ "\' that does not have a <gazebo> element as immediate parent. It was not removed, as this input is unexpected.");
+ }
+ }
+ }
+
+ /**
+ * Inserts all selected sensors (with its enclosing {@code <gazebo>} tag) into gazeboModel.
+ */
+ private void insertSelectedSensors() {
+ for(Document sensorConfig : this.sensorConfigList) {
+ List<Element> sensorList = XMLHelper.xQueryElements(sensorConfig, "//gazebo");
+
+ if(sensorList.size()!=1) {
+ System.err.println("Invalid input. At least one sensorconfig file contains no or multiple <gazebo> entries.");
+ System.exit(-1);
+ }
+
+ Element sensor = sensorList.get(0);
+
+ //Warn if a sensor still contains $(arg ...) values
+ checkForArg(sensor);
+
+ sensor.detach();
+ this.gazeboModel.getRootElement().addContent(sensor);
+
+
+ }
+ }
+
+ /**
+ * Checks if an Element still contains $(arg ...) values.
+ * Only exists because because someone might manually create a sensorconfig by copying
+ * from a .gazebo.xacro template and forget that $(arg ...) values are still inside.
+ */
+ private static boolean checkForArg(Element element) {
+ boolean detected = false;
+ List<Element> tagList = XMLHelper.xQueryElements(element, "//*");
+
+ for(Element tag : tagList) {
+ String text = tag.getText();
+ if(text.contains("$")) {
+ System.out.println("Warning: A sensorconfig file still contains an abstract value: \'"+text+
+ "\'. It should be replaced with a set value, or the output .gazebo.xacro will likely be broken.");
+ detected = true;
+ }
+ }
+
+ return detected;
+ }
+
+ /**
+ * Output the gazeboModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.gazeboModel, this.out_gxPath+this.out_gxName);
+ }
+}
diff --git a/src/var/FeatureModelImplGenerator/src/ImplGenerator.java b/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
index d115a04..135d89d 100644
--- a/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
+++ b/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
@@ -11,6 +11,7 @@ import java.util.List;
import org.jdom2.Attribute;
import org.jdom2.Document;
import org.jdom2.Element;
+import org.jdom2.JDOMException;
/**
* A simple program that automatically generates implementations
@@ -32,14 +33,23 @@ public class ImplGenerator {
String m_sMainTemplatePath = "./template/Main.jak";
//input path for the module template
String m_sModuleTemplatePath = "./template/Module.jak";
- //input path for the adapter
- String m_sAdapterPath = "./src/Adapter.java";
- //input path for the adapter
+ //input path for all files needed for complete adapter functionality
String m_sHelperPath = "./src/XMLHelper.java";
- //path to the resources dir
+ String m_sUserIOPath = "./src/UserSetIOReader.java";
+ String m_sAdapterPath = "./src/Adapter.java";
+ String m_sGazeboAdapterPath = "./src/GazeboAdapter.java";
+ String m_sUrdfAdapterPath = "./src/UrdfAdapter.java";
+ String m_sBotNameAdapterPath = "./src/BotNameAdapter.java";
+ //path to the resources dirs
String m_sResourcesDirPath = "../FeatureModelConfigurator/resources";
+ String m_sResourcesDirInPath = m_sResourcesDirPath+"/input";
+ String m_sResourcesDirOutPath = m_sResourcesDirPath+"/output";
//path to the features dir
String m_sFeatureDirPath = "../FeatureModelConfigurator/features";
+ //paths to the sensorcofig dirs
+ String m_sSenConfPath = "../FeatureModelConfigurator/resources/input/sensorconfig";
+ String m_sSenConfAutoPath = m_sSenConfPath+"/autogenerated";
+ String m_sSenConfOtherPath = m_sSenConfPath+"/other";
//path to the src dir
String m_sSrcDirPath = "../FeatureModelConfigurator/src";
//path to the bin dir
@@ -47,26 +57,35 @@ public class ImplGenerator {
private ImplGenerator() {
- //check if resources directory exists and if not, create it
- if(!XMLHelper.checkDirectory(m_sResourcesDirPath)) {
- return;
- }
-
- //check if resources/input directory exists and if not, create it
- if(!XMLHelper.checkDirectory(m_sResourcesDirPath+"/input")) {
+ //check if directories exist and if not, create them
+ boolean bCreated = true;
+ bCreated = XMLHelper.checkDirectory(m_sResourcesDirPath);
+ bCreated = XMLHelper.checkDirectory(m_sResourcesDirInPath);
+ bCreated = XMLHelper.checkDirectory(m_sResourcesDirOutPath);
+ bCreated = XMLHelper.checkDirectory(m_sSenConfPath);
+ bCreated = XMLHelper.checkDirectory(m_sSenConfAutoPath);
+ bCreated = XMLHelper.checkDirectory(m_sSenConfOtherPath);
+ if(!bCreated) {
return;
}
- //check if resources/output directory exists and if not, create it
- if(!XMLHelper.checkDirectory(m_sResourcesDirPath+"/output")) {
+ //autogenerate sensorconfig files
+ try {
+ SensorConfigSetup oScSetup = new SensorConfigSetup();
+ oScSetup.run();
+ } catch (JDOMException | IOException e) {
+ e.printStackTrace();
return;
}
- //autogenerate sensor config files
- SensorConfigSetup oScSetup = new SensorConfigSetup();
-
//set up the feature model
- ModelSetup oMSetup = new ModelSetup();
+ try {
+ ModelSetup oMSetup = new ModelSetup();
+ oMSetup.run();
+ } catch (JDOMException | IOException e) {
+ e.printStackTrace();
+ return;
+ }
//delete everything in the features directory
DeleteDir(new File(m_sFeatureDirPath));
@@ -94,13 +113,19 @@ public class ImplGenerator {
List<Element> aModules = XMLHelper.xQueryElements(oFeatureModelDoc, "//*[@name= 'ConfiguratorMain']").get(0).getChildren();
FindNonAbstractModules(aModules);
- //copy adapter file
- sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/Adapter.java";
- CopyFile(m_sAdapterPath, sDestPath);
-
- //copy xml helper file
+ //copy files to FeatureModelConfigurator
sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/XMLHelper.java";
CopyFile(m_sHelperPath, sDestPath);
+ sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/UserSetIOReader.java";
+ CopyFile(m_sUserIOPath, sDestPath);
+ sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/Adapter.java";
+ CopyFile(m_sAdapterPath, sDestPath);
+ sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/GazeboAdapter.java";
+ CopyFile(m_sGazeboAdapterPath, sDestPath);
+ sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/UrdfAdapter.java";
+ CopyFile(m_sUrdfAdapterPath, sDestPath);
+ sDestPath = m_sFeatureDirPath + "/ConfiguratorMain/BotNameAdapter.java";
+ CopyFile(m_sBotNameAdapterPath, sDestPath);
}
//recursively delete a dir and it's contents
diff --git a/src/var/FeatureModelImplGenerator/src/ModelSetup.java b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
index 0ead627..ca62cbc 100644
--- a/src/var/FeatureModelImplGenerator/src/ModelSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
@@ -1,180 +1,192 @@
-import java.io.*;
-import java.util.*;
-
-import org.jdom2.*;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Collections;
+import java.io.IOException;
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.JDOMException;
/**
- * Takes the specified template for a Feature IDE model file and adds all available
- * sensorconfig/ gazebo.xacro model files.
+ * Class that allows for generating a model to be used with FeatureIDE based
+ * on available gazebomodels and sensorconfigs.
*/
-public class ModelSetup extends XMLHelper{
-
+public class ModelSetup extends Setup {
+ //Variables used exclusively by ModelSetup
+ public final Document model;
+ public final List<String> scAutoList;
+ public final List<String> scOtherList;
+ public final List<String> gazeboModelNamesList;
+
/**
- * Obtains an attribute value of the input/ output entries specified in modelsetup.config.
+ * Creates a runnable ModelSetup.
*
- * @param doc The JDOM Document (modelsetup.config)
- * @param entry String formed as "{input or output}/{entity}"
- * @param val Attribute name as String
- * @return path as specified in modelsetup.config
+ * When reading input, scAutoPath, scOtherPath and in_gxPath may contain other
+ * files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
*/
- private static String getConfigVal(Document doc, String str, String val) {
- List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
- if(valList.size()!=1) {
- System.err.println("Error while reading input/ output "+val+" value from modelsetup.config.");
- System.exit(-1);
+ public ModelSetup() throws JDOMException, IOException {
+ super();
+
+ //Get the model template file as Document
+ model = XMLHelper.readXml(in_mPath+in_mName);
+
+ //Get all available sensorconfig file names from .../autogenerated/ directory
+ scAutoList = new ArrayList<String>();
+
+ List<String> scAutoDirectoryFilesList = XMLHelper.getFileNames(scAutoPath);
+ for(String s : scAutoDirectoryFilesList) {
+ if(s.endsWith(SC_ENDING)) {
+ scAutoList.add(s);
+ }
+ }
+
+ //Get all available sensorconfig file names from .../other/ directory
+ scOtherList = new ArrayList<String>();
+
+ List<String> scOtherDirectoryFilesList = XMLHelper.getFileNames(scOtherPath);
+ for(String s : scOtherDirectoryFilesList) {
+ if(s.endsWith(SC_ENDING)) {
+ scOtherList.add(s);
+ }
+ }
+
+ //Get all available gazeboModel file names
+ gazeboModelNamesList = new ArrayList<String>();
+
+ List<String> gxDirectoryFilesList = XMLHelper.getFileNames(in_gxPath);
+ for(String s : gxDirectoryFilesList) {
+ if(s.endsWith(GX_ENDING)) {
+ gazeboModelNamesList.add(s);
+ }
}
-
- return valList.get(0).getValue();
}
/**
- * Call this to run ModelSetup.
+ * Run the ModelSetup.
+ *
+ * @throws IOException
*/
- public ModelSetup() {
+ public void run() throws IOException {
System.out.println("ModelSetup started.");
- try {
- final String SC_ENDING = ".xml";
- final String GX_ENDING = ".gazebo.xacro";
-
- //######### Input ###############################
- Document ModelSetupConfig = readXml("./modelsetup.config");
-
- //Get modelsetup.config values.
- String in_mPath = getConfigVal(ModelSetupConfig, "input/model", "path");
- String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");
- String in_gxPath = getConfigVal(ModelSetupConfig, "input/gazebo_xacro", "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");
-
- String scAutoPath = in_scPath+"autogenerated/";
- String scOtherPath = in_scPath+"other/";
-
- //Declare Document.
- Document model = readXml(in_mPath+in_mName);
-
- //Get sensorconfig- and gazebomodel file names.
- //scAutoPath, scOtherPath and in_gxPath may contain other files that will be filtered out!
- List<String> scAutoDirectoryFilesList = getFileNames(scAutoPath);
- List<String> scAutoList = new ArrayList<String>();
- for(String s : scAutoDirectoryFilesList) {
- if(s.endsWith(SC_ENDING)) {
- scAutoList.add(s);
- }
- }
-
- List<String> scOtherDirectoryFilesList = getFileNames(scOtherPath);
- List<String> scOtherList = new ArrayList<String>();
- for(String s : scOtherDirectoryFilesList) {
- if(s.endsWith(SC_ENDING)) {
- scOtherList.add(s);
- }
- }
-
- List<String> gxDirectoryFilesList = getFileNames(in_gxPath);
- List<String> gxList = new ArrayList<String>();
- for(String s : gxDirectoryFilesList) {
- if(s.endsWith(GX_ENDING)) {
- gxList.add(s);
- }
- }
-
- //Check whether feature input was empty.
- //It is possible to have no sensors (so you can build a custom bot with no sensors),
- //but at least one bot template is required!
- if(scAutoList.isEmpty()) {
- System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+scAutoPath+"\'.");
- }
- if(scOtherList.isEmpty()) {
- System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+scOtherPath+"\'.");
- }
- if(gxList.isEmpty()) {
- System.err.println("Error: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+"\'.");
- System.exit(-1);
- }
-
- //Check whether sensorconfigs in .../autogenerated/ and .../other/ have distinct names.
- //FeatureIDE does not allow for duplicate feature names.
- List<String> testList = new ArrayList<String>();
- testList.addAll(scAutoList);
- testList.addAll(scOtherList);
- Collections.sort(testList);
- if(!testList.isEmpty()) {
- for(int i = 0; i < testList.size()-1; i++) {
- String name1 = testList.get(i);
- String name2 = testList.get(i+1);
- if(name1.equals(name2)) {
- System.err.println("Error: At least two sensorconfig files have the same name: \'"+name1+"\'");
- System.exit(-1);
- }
+ //Check for empty feature input
+ this.checkIfEmpty();
+
+ //Check whether there are no duplicate sensorconfig names
+ this.checkForDistinctSensorConfigNames();
+
+ //Sort features alphabetically
+ this.sortFeatures();
+
+ //Add features to model
+ this.addFeatures();
+
+ //Output model
+ this.output();
+
+ System.out.println("ModelSetup finished.");
+ }
+
+ /**
+ * Check whether feature input was empty.
+ * It is possible to have no sensors (so you can build a custom bot with no sensors),
+ * but at least one bot template is required!
+ */
+ private void checkIfEmpty() {
+ if(this.scAutoList.isEmpty()) {
+ System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+this.scAutoPath+"\'.");
+ }
+ if(this.scOtherList.isEmpty()) {
+ System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+this.scOtherPath+"\'.");
+ }
+ if(this.gazeboModelNamesList.isEmpty()) {
+ System.err.println("Error: No gazebo model \'"+GX_ENDING+"\' files found in \'"+this.in_gxPath+"\'.");
+ System.exit(-1);
+ }
+ }
+
+ /**
+ * Checks whether sensorconfigs in .../autogenerated/ and .../other/ have distinct names.
+ * Thid could happen because we read from two directories.
+ * FeatureIDE does not allow for duplicate feature names.
+ */
+ private void checkForDistinctSensorConfigNames() {
+ List<String> testList = new ArrayList<String>();
+ testList.addAll(this.scAutoList);
+ testList.addAll(this.scOtherList);
+ Collections.sort(testList);
+
+ if(!testList.isEmpty()) {
+ for(int i = 0; i < testList.size()-1; i++) {
+ String name1 = testList.get(i);
+ String name2 = testList.get(i+1);
+ if(name1.equals(name2)) {
+ System.err.println("Error: At least two sensorconfig files have the same name: \'"+name1+"\'");
+ System.exit(-1);
}
}
-
- //Sort features alphabetically (ascending order; upper case first; then lower case).
- Collections.sort(scAutoList);
- Collections.sort(scOtherList);
- Collections.sort(gxList);
- //###############################################
-
-
- //######### Operate on model ####################
- //Get Elements in model where features are to be added.
- Element templates = null;
- List<Element> templatesList = xQueryElements(model, "//*[@name='Templates']");
- if(templatesList.size()==1) {
- templates = templatesList.get(0);
- }
- else {
- System.err.println("Error when parsing for \'Templates\' in \'"+in_mName+"\'.");
- System.exit(-1);
- }
-
- Element custom = null;
- List<Element> customList = xQueryElements(model, "//*[@name='Custom']");
- if(customList.size()==1) {
- custom = customList.get(0);
- }
- else {
- System.err.println("Error when parsing for \'Custom\' in \'"+in_mName+"\'.");
- System.exit(-1);
- }
-
- //Add features to model.
- 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);
- }
-
- for(String sc : scOtherList) {
- String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
- Element feature = new Element("feature").setAttribute("name", featureName);
- custom.addContent(feature);
- }
-
- for(String sc : scAutoList) {
- String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
- Element feature = new Element("feature").setAttribute("name", featureName);
- custom.addContent(feature);
- }
- //###############################################
-
-
- //######### Output result #######################
- saveAsXml(model, out_mPath+out_mName);
- //###############################################
}
- catch (JDOMException | IOException e) {
- e.printStackTrace();
+ }
+
+ /**
+ * Sorts scAutoList, scOtherList, gazeboModelNamesList alphabetically.
+ * (ascending order; upper case first; then lower case)
+ */
+ private void sortFeatures() {
+ Collections.sort(this.scAutoList);
+ Collections.sort(this.scOtherList);
+ Collections.sort(this.gazeboModelNamesList);
+ }
+
+ /**
+ * Adds all features in gazeboModelNamesList, scOtherList, scAutoList to model.
+ */
+ private void addFeatures() {
+ //Get Elements in model where features are to be added
+ List<Element> templatesList = XMLHelper.xQueryElements(this.model, "//*[@name='Templates']");
+ if(templatesList.size()!=1) {
+ System.err.println("Error when parsing for \'Templates\' in \'"+this.in_mName+"\'.");
+ System.exit(-1);
}
-
- System.out.println("ModelSetup finished.");
+ Element templates = templatesList.get(0);
+
+ List<Element> customList = XMLHelper.xQueryElements(this.model, "//*[@name='Custom']");
+ if(customList.size()!=1) {
+ System.err.println("Error when parsing for \'Custom\' in \'"+this.in_mName+"\'.");
+ System.exit(-1);
+ }
+ Element custom = customList.get(0);
+
+ //Add features to model
+ for(String gm : this.gazeboModelNamesList) {
+ String featureName = gm.substring(0, gm.length() - GX_ENDING.length());
+ Element feature = new Element("feature").setAttribute("name", featureName);
+ templates.addContent(feature);
+ }
+
+ for(String sc : this.scOtherList) {
+ String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
+ Element feature = new Element("feature").setAttribute("name", featureName);
+ custom.addContent(feature);
+ }
+
+ for(String sc : this.scAutoList) {
+ String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
+ Element feature = new Element("feature").setAttribute("name", featureName);
+ custom.addContent(feature);
+ }
+ }
+
+ /**
+ * Output model as XML file to be used by FeatureIDE.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.model, this.out_mPath+this.out_mName);
}
}
-
-
-
diff --git a/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java b/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
index 2e29aef..1e69400 100644
--- a/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
@@ -1,162 +1,167 @@
-import java.io.*;
-import java.util.*;
-
-import org.jdom2.*;
+import java.util.ArrayList;
+import java.util.List;
+import java.io.File;
+import java.io.IOException;
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.Namespace;
+import org.jdom2.JDOMException;
/**
- * Takes all given .gazebo.xacro files, extracts their sensors and creates sensorconfig files.
+ * Class that allows for generating sensorconfigs to be used with Adapter based
+ * on available gazebomodels.
*/
-public class SensorConfigSetup extends XMLHelper{
-
+public class SensorConfigSetup extends Setup{
+ //Variables used exclusively by SensorConfigSetup
+ public final List<Document> gazeboModelList;
+ public final List<String> gazeboModelNamesList;
+ public final List<Document> sensorConfigList = new ArrayList<Document>();
+ public final List<String> sensorConfigNamesList = new ArrayList<String>();
+
/**
- * Obtains an attribute value of the input/ output entries specified in modelsetup.config.
+ * Creates a runnable SensorConfigSetup.
*
- * @param doc The JDOM Document (modelsetup.config)
- * @param entry String formed as "{input or output}/{entity}"
- * @param val Attribute name as String
- * @return path as specified in modelsetup.config
+ * When reading input, in_gxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
*/
- private static String getConfigVal(Document doc, String str, String val) {
- List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
- if(valList.size()!=1) {
- System.err.println("Error while reading input/ output "+val+" value from modelsetup.config.");
- System.exit(-1);
+ public SensorConfigSetup() throws JDOMException, IOException {
+ super();
+
+ //Get all gazeboModel files and file names
+ gazeboModelList = new ArrayList<Document>();
+ gazeboModelNamesList = new ArrayList<String>();
+
+ List<String> gxList = new ArrayList<String>();
+ List<String> gxDirectoryFilesList = XMLHelper.getFileNames(in_gxPath);
+ for(String s : gxDirectoryFilesList) {
+ if(s.endsWith(GX_ENDING)) {
+ gxList.add(s);
+ }
+ }
+
+ if(gxList.isEmpty()) {
+ System.out.println("Warning: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+
+ "\'. Could not autogenerate sensorconfig files");
+ }
+
+ for(String gx : gxList) {
+ gazeboModelList.add(XMLHelper.readXml(in_gxPath+gx));
+ gazeboModelNamesList.add(gx.substring(0, gx.length() - GX_ENDING.length()));
}
-
- return valList.get(0).getValue();
}
/**
- * Takes a file name and alters it so a FeatureIDE model will accept it.
- * FeatureIDE says it only takes the following regex as valid feature names: ^[a-zA-Z]+\w*$
- * This function will replace all \W characters (no word character) with '_'.
+ * Run the SensorConfigSetup.
*
- * @param name Name to be changes as String.
- * @return Corrected name
+ * @throws IOException
*/
- private static String fixName(String name) {
- return name.replaceAll("\\W", "_");
+ public void run() throws IOException {
+ System.out.println("SensorConfigSetup started.");
+
+ //Remove old autogenerated sensorconfigs and create directories
+ //checkDirectory(in_scPath); TODO
+ if((new File(scAutoPath)).exists()) {
+ XMLHelper.deleteDirectory(scAutoPath);
+ }
+ XMLHelper.checkDirectory(scAutoPath);
+ XMLHelper.checkDirectory(scOtherPath);
+
+ //Compute sensorconfigs for each gazeboModel
+ for(int i = 0; i < gazeboModelList.size(); i++) {
+ Document gazeboModel = gazeboModelList.get(i);
+ String gazeboModelName = gazeboModelNamesList.get(i);
+ Namespace NS = gazeboModel.getRootElement().getNamespace("xacro");
+
+ //Replace all $(arg ...) variables
+ this.replaceArg(gazeboModel, NS);
+
+ //Generate sensorconfigs from gazeboModel
+ this.generateSensorConfigs(gazeboModel, gazeboModelName);
+ }
+
+ //Output sensorconfigs
+ this.output();
+
+ System.out.println("SensorConfigSetup finished.");
}
/**
- * Call this to run SensorConfigSetup.
+ * Replace all $(arg ...) variables with their concrete values.
+ *
+ * @param gazeboModel model to be operated on as Document
+ * @param NS Namespace of gazeboModel as Namespace
*/
- public SensorConfigSetup() {
- System.out.println("SensorConfigSetup started.");
+ private void replaceArg(Document gazeboModel, Namespace NS) {
+ List<Element> argList = XMLHelper.xQueryElements(gazeboModel, "//xacro:arg", NS);
- try {
- final String SC_ENDING = ".xml";
- final String GX_ENDING = ".gazebo.xacro";
-
- //######### Input ###############################
- Document ModelSetupConfig = readXml("./modelsetup.config");
-
- //Get modelsetup.config values.
- String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");///TODO
- String in_gxPath = getConfigVal(ModelSetupConfig, "input/gazebo_xacro", "path");
-
- String scAutoPath = in_scPath+"autogenerated/";
- String scOtherPath = in_scPath+"other/";
-
- //Declare Documents and their corresponding file names.
- List<Document> gazeboModelList = new ArrayList<Document>();
- List<String> gazeboModelNamesList = new ArrayList<String>();
- List<Document> sensorConfigList = new ArrayList<Document>();
- List<String> sensorConfigNamesList = new ArrayList<String>();
-
- //Get gazebomodel file names.
- //in_gxPath may contain other files that will be filtered out!
- List<String> gxDirectoryFilesList = getFileNames(in_gxPath);
- List<String> gxList = new ArrayList<String>();
- for(String s : gxDirectoryFilesList) {
- if(s.endsWith(GX_ENDING)) {
- gxList.add(s);
- }
+ for(Element arg : argList) {
+ String variable = "$(arg "+arg.getAttributeValue("name")+")";
+ String concreteValue = arg.getAttributeValue("default");
+ List<Element> occurrenceList = XMLHelper.xQueryElements(gazeboModel, "//*[text()='"+variable+"']");
+ for(Element occurrence : occurrenceList) {
+ occurrence.setText(concreteValue);
}
-
- //Check whether input was empty.
- if(gxList.isEmpty()) {
- System.out.println("Warning: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+"\'. Could not autogenerate sensorconfig files");
- }
-
- //Get all gazebomodel files as List<Document>.
- for(String gx : gxList) {
- gazeboModelList.add(readXml(in_gxPath+gx));
- gazeboModelNamesList.add(gx.substring(0, gx.length() - GX_ENDING.length()));
- }
- //###############################################
-
-
- //######### Check directories ###################
- checkDirectory(in_scPath);
- if((new File(scAutoPath)).exists()) {
- deleteDirectory(scAutoPath);
- }
- checkDirectory(scAutoPath);
- checkDirectory(scOtherPath);
- //###############################################
-
-
- //######### Generate sensorconfigs ##############
- for(int i = 0; i < gazeboModelList.size(); i++) {
- Document gazeboModel = gazeboModelList.get(i);
- String gazeboModelName = gazeboModelNamesList.get(i);
- Namespace NS = gazeboModel.getRootElement().getNamespace("xacro");
-
- //Replace all $(arg ...) variables with their concrete values.
- List<Element> argList = xQueryElements(gazeboModel, "//xacro:arg", NS);
- for(Element arg : argList) {
- String variable = "$(arg "+arg.getAttributeValue("name")+")";
- String concreteValue = arg.getAttributeValue("default");
- List<Element> occurrenceList = xQueryElements(gazeboModel, "//*[text()='"+variable+"']");
- for(Element occurrence : occurrenceList) {
- occurrence.setText(concreteValue);
- }
- }
-
- //Get all existing sensors in gazebomodel.
- List<Element> sensorList = xQueryElements(gazeboModel, "//sensor");
+ }
+ }
+
+ /**
+ * Generate a new sensorconfig for each sensor in gazeboModel.
+ *
+ * @param gazeboModel model to be operated on as Document
+ * @param gazeboModelName model name as String
+ */
+ private void generateSensorConfigs(Document gazeboModel, String gazeboModelName) {
+ //Get all existing sensors in gazeboModel
+ List<Element> sensorList = XMLHelper.xQueryElements(gazeboModel, "//sensor");
+
+ //Create a new sensorconfig for each of them.
+ for(Element sensor : sensorList) {
+ Element entry = sensor.getParentElement();
+ if(entry.getName().equals("gazebo")) {
+ entry.detach();
- //Create a new sensorconfig for each of them.
- for(Element sensor : sensorList) {
- Element entry = sensor.getParentElement();
- if(entry.getName().equals("gazebo")) {
- entry.detach();
-
- Element sensorConfigRoot = new Element("configuration");
- Document sensorConfig = new Document(sensorConfigRoot);
- sensorConfig.getRootElement().addContent(entry);
-
- sensorConfigList.add(sensorConfig);
- String sensorConfigName = fixName(sensor.getAttributeValue("name"))+"___"+fixName(gazeboModelName);
- sensorConfigNamesList.add(sensorConfigName);
- }
- else {
- System.out.println("Found a <sensor> element that does not have a <gazebo> element as immediate parent. It was ignored, as this input is unexpected.");
- }
- }
- }
- //###############################################
-
-
- //######### Output result #######################
- for(int i = 0; i < sensorConfigList.size(); i++) {
- Document sensorConfig = sensorConfigList.get(i);
- String sensorConfigName = sensorConfigNamesList.get(i);
+ Element sensorConfigRoot = new Element("configuration");
+ Document sensorConfig = new Document(sensorConfigRoot);
+ sensorConfig.getRootElement().addContent(entry);
- saveAsXml(sensorConfig, scAutoPath+sensorConfigName+SC_ENDING);
+ this.sensorConfigList.add(sensorConfig);
+ String sensorConfigName = fixName(sensor.getAttributeValue("name"))+"___"+fixName(gazeboModelName);
+ this.sensorConfigNamesList.add(sensorConfigName);
+ }
+ else {
+ System.out.println("Found a <sensor> element that does not have a <gazebo> element as immediate parent. "
+ +"It was ignored, as this input is unexpected.");
}
- //###############################################
}
- catch (JDOMException | IOException e) {
- e.printStackTrace();
+ }
+
+ /**
+ * Takes a String and alters it so a FeatureIDE model will accept it as a feature name.
+ * FeatureIDE says it only takes the following regex as valid feature names: ^[a-zA-Z]+\w*$
+ * This function will replace all \W characters (no word character) with '_'.
+ *
+ * @param name Name to be changed as String
+ * @return Corrected name
+ */
+ private static String fixName(String name) {
+ return name.replaceAll("\\W", "_");
+ }
+
+ /**
+ * Output all generated sensorconfigs as XML files.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ for(int i = 0; i < this.sensorConfigList.size(); i++) {
+ Document sensorConfig = this.sensorConfigList.get(i);
+ String sensorConfigName = this.sensorConfigNamesList.get(i);
+
+ XMLHelper.saveAsXml(sensorConfig, this.scAutoPath+sensorConfigName+SC_ENDING);
}
-
- System.out.println("SensorConfigSetup finished.");
}
}
-
-
-
diff --git a/src/var/FeatureModelImplGenerator/src/Setup.java b/src/var/FeatureModelImplGenerator/src/Setup.java
new file mode 100644
index 0000000..eb18e28
--- /dev/null
+++ b/src/var/FeatureModelImplGenerator/src/Setup.java
@@ -0,0 +1,30 @@
+import java.io.IOException;
+
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that provides input/ output info for setups.
+ */
+public class Setup extends UserSetIOReader {
+ //Hard coded input/ output (because the project directory is designed like this)
+ public final String in_mName = "modelTemplate.xml";
+ public final String in_mPath = "./template/";
+
+ private final String in_scPath = "./../FeatureModelConfigurator/resources/input/sensorconfig/";
+ public final String scAutoPath = in_scPath+"autogenerated/";
+ public final String scOtherPath = in_scPath+"other/";
+
+ public final String out_mName = "model.xml";
+ public final String out_mPath = "./../FeatureModelConfigurator/";
+
+ /**
+ * Constructor defining a general setup object.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public Setup() throws JDOMException, IOException {
+ super();
+ }
+}
diff --git a/src/var/FeatureModelImplGenerator/src/UrdfAdapter.java b/src/var/FeatureModelImplGenerator/src/UrdfAdapter.java
new file mode 100644
index 0000000..5006bb5
--- /dev/null
+++ b/src/var/FeatureModelImplGenerator/src/UrdfAdapter.java
@@ -0,0 +1,136 @@
+import java.util.List;
+import java.io.File;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.Namespace;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for manipulating and outputting a .urdf.xacro file based on
+ * featuremodel info.
+ */
+public class UrdfAdapter extends Adapter {
+ //Variables used exclusively by .urdf.xacro adapter
+ public final String in_uxName;
+ public final Document urdfModel;
+ public final Namespace NS;
+
+ /**
+ * Creates a runnable Adapter for .urdf.xacro files.
+ *
+ * When reading input in_uxPath may contain other files that will be filtered out.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UrdfAdapter() throws JDOMException, IOException {
+ super();
+
+ //Get the selected .urdf.xacro file name as String
+ in_uxName = botName+UX_ENDING;
+
+ //Get the selected .urdf.xacro file as Document
+ List<String> fileMatchList = XMLHelper.findFile(in_uxName, in_uxPath);
+
+ if(fileMatchList.isEmpty()) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': No input file known.");
+ System.exit(-1);
+ }
+ if(fileMatchList.size()!=1) {
+ System.err.println("Cannot handle \'"+in_uxName+"\': Multiple input files found:");
+ for(String match : fileMatchList) {
+ System.err.println("\'"+match+"\'");
+ }
+ System.exit(-1);
+ }
+
+ urdfModel = XMLHelper.readXml(fileMatchList.get(0));
+
+ //Get the "xacro" namespace of the .urdf.xacro document as Namespace
+ NS = urdfModel.getRootElement().getNamespace("xacro");
+ }
+
+ /**
+ * Run the Adapter for .urdf.xacro files.
+ *
+ * Sets the {@code <xacro:include>} tags.
+ * The links/ joints are not edited, as the precise visual bot representation is not
+ * important for this project.
+ *
+ * @throws IOException
+ */
+ public void run() throws IOException {
+ System.out.println("UrdfAdapter started.");
+
+ //Set <xacro:include> tags
+ this.setInclude();
+
+ switch(this.mode) {
+ case "NO_CHANGE":
+ break;
+ case "Custom":
+ /**
+ * 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> and <joint> tags.)
+ * This would require separate files with <link> and <joint> tags for each bot and sensor for the Adapter to access.
+ *
+ * For example, like this:
+ * The "autogenerated"/"other" directory gets one child directory for each bot.
+ * Each of these new directories contains one file for each sensorconfig with the building blocks
+ * to be inserted in .urdf.xacro, just like the sensorconfigs contain building blocks
+ * for the .gazebo.xacro files.
+ */
+ break;
+ default:
+ System.err.println("Invalid input in \'"+this.in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed.");
+ System.exit(-1);
+ }
+
+ //Output urdfModel
+ this.output();
+
+ System.out.println("UrdfAdapter finished.");
+ }
+
+ /**
+ * Sets {@code <xacro:include>} tags in urdfModel to correctly point to the files to be included.
+ */
+ private void setInclude() {
+ List<Element> includeList = XMLHelper.xQueryElements(this.urdfModel, "//xacro:include", this.NS);
+
+ if(includeList.size()!=2) {
+ System.err.println("Unexpected input in \'"+this.in_uxName+"\': Expected exactly 2 <xacro:include> tags.");
+ System.exit(-1);
+ }
+
+ int gxIndex;
+ int commonPropIndex;
+ if(includeList.get(0).getAttributeValue("filename").endsWith(GX_ENDING)) {
+ gxIndex = 0;
+ commonPropIndex = 1;
+ }
+ else {
+ gxIndex = 1;
+ commonPropIndex = 0;
+ }
+
+ String gxDestDirectoryName = (new File(this.out_gxPath)).getName();
+ includeList.get(gxIndex).setAttribute("filename", "$(find "+gxDestDirectoryName+")/"+this.out_gxName);
+
+ //The common_properties.xacro stays in its original directory, so this is not edited
+ //String commonPropDestDirectoryName = ;
+ //includeList.get(commonPropIndex).setAttribute("filename", "$(find "+commonPropDestDirectoryName+")/common_properties.xacro");
+ }
+
+ /**
+ * Output the urdfModel as XML file.
+ *
+ * @throws IOException
+ */
+ private void output() throws IOException {
+ XMLHelper.saveAsXml(this.urdfModel, this.out_uxPath+this.out_uxName);
+ }
+}
diff --git a/src/var/FeatureModelImplGenerator/src/UserSetIOReader.java b/src/var/FeatureModelImplGenerator/src/UserSetIOReader.java
new file mode 100644
index 0000000..409a517
--- /dev/null
+++ b/src/var/FeatureModelImplGenerator/src/UserSetIOReader.java
@@ -0,0 +1,88 @@
+import java.util.List;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Attribute;
+import org.jdom2.JDOMException;
+
+
+/**
+ * Class that allows for reading input from usersetio.config.
+ */
+public class UserSetIOReader {
+ //File endings
+ public static final String SC_ENDING = ".xml";
+ public static final String GX_ENDING = ".gazebo.xacro";
+ public static final String UX_ENDING = ".urdf.xacro";
+
+ //Input/ output as defined by user
+ public final String in_gxPath;
+
+ public final String in_uxPath;
+
+ public final String out_gxName;
+ public final String out_gxPath;
+
+ public final String out_uxName;
+ public final String out_uxPath;
+
+ public final String out_bnName;
+ public final String out_bnPath;
+ public final String unwantedPrefix;
+ public final String unwantedSuffix;
+
+ /**
+ * Constructor reading from default usersetio.config location.
+ *
+ * @throws IOException
+ * @throws JDOMException
+ */
+ public UserSetIOReader() throws JDOMException, IOException {
+ this("./../usersetio.config");
+ }
+
+ /**
+ * Constructor reading all values from usersetio.config.
+ * io.config contains all values that the user will want to set manually.
+ *
+ * @param path Location of usersetio.config.
+ * @throws IOException
+ * @throws JDOMException
+ */
+ private UserSetIOReader(String path) throws JDOMException, IOException {
+ Document config = XMLHelper.readXml(path);
+
+ in_gxPath = getConfigVal(config, "input/gazebo_xacro", "path");
+
+ in_uxPath = getConfigVal(config, "input/urdf_xacro", "path");
+
+ out_gxName = getConfigVal(config, "output/gazebo_xacro", "name");
+ out_gxPath = getConfigVal(config, "output/gazebo_xacro", "path");
+
+ out_uxName = getConfigVal(config, "output/urdf_xacro", "name");
+ out_uxPath = getConfigVal(config, "output/urdf_xacro", "path");
+
+ out_bnName = getConfigVal(config, "output/botname", "name");
+ out_bnPath = getConfigVal(config, "output/botname", "path");
+ unwantedPrefix = getConfigVal(config, "output/botname", "remove_prefix");
+ unwantedSuffix = getConfigVal(config, "output/botname", "remove_suffix");
+ }
+
+ /**
+ * Obtains an attribute value of the input/ output entries specified in *.config.
+ *
+ * @param doc The JDOM Document (*.config)
+ * @param entry String formed as "{input or output}/{entity}"
+ * @param val Attribute name as String
+ * @return XML-attribute specified in entry of doc (*.config) as String
+ */
+ public static String getConfigVal(Document doc, String entry, String val) {
+ List<Attribute> valList = XMLHelper.xQueryAttributes(doc, "//"+entry+"/@"+val);
+ if(valList.size()!=1) {
+ System.err.println("Error while reading input/ output \'"+val+"\' value from *.config.");
+ System.exit(-1);
+ }
+
+ return valList.get(0).getValue();
+ }
+}
diff --git a/src/var/FeatureModelImplGenerator/src/XMLHelper.java b/src/var/FeatureModelImplGenerator/src/XMLHelper.java
index 08c3067..36f589c 100644
--- a/src/var/FeatureModelImplGenerator/src/XMLHelper.java
+++ b/src/var/FeatureModelImplGenerator/src/XMLHelper.java
@@ -9,7 +9,6 @@ import org.jdom2.output.XMLOutputter;
import org.jdom2.xpath.*;
-
/**
* Contains methods based on JDOM and Jaxen library that help processing XML files and other misc ones.
*/
@@ -126,12 +125,13 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @return path to all file matches as List<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @return path to all file matches as {@code List<String>} (e.g. .../sensorconfig/other/imu.xml)
*/
public static List<String> findFile(String name, String path) {
List<String> accumulator = new ArrayList<String>();
+ findFile(name, path, accumulator);
- return findFile(name, path, accumulator);
+ return accumulator;
}
/**
@@ -139,23 +139,20 @@ public class XMLHelper {
*
* @param name Name of the file including file ending as String
* @param path Path to directory to be searched as String
- * @param result Accumulator for all file matches as List<String>
- * @return path to all file matches as list<String> (e.g. .../sensorconfig/other/imu.xml)
+ * @param result Accumulator for all file matches as {@code List<String>}
*/
- private static List<String> findFile(String name, String path, List<String> result) {
+ private static void findFile(String name, String path, List<String> result) {
File element = new File(path);
File[] content = element.listFiles();
+ //content==null if it is not a directory
if(content != null) {
for(File file : content) {
- List<String> subResult = findFile(name, path+"/"+file.getName(), result);
- result.addAll(subResult);
+ findFile(name, path+"/"+file.getName(), result);
}
}
if(element.getName().equals(name)) {
- result.add(element.getName());
+ result.add(element.getPath());
}
-
- return result;
}
/**
@@ -455,12 +452,4 @@ public class XMLHelper {
return false;
}
-
- /**
- * @param args
- */
- public static void main(String[] args) {
-
- }
}
-
diff --git a/src/var/FeatureModelImplGenerator/template/Main.jak b/src/var/FeatureModelImplGenerator/template/Main.jak
index 8cf93aa..e241cc6 100644
--- a/src/var/FeatureModelImplGenerator/template/Main.jak
+++ b/src/var/FeatureModelImplGenerator/template/Main.jak
@@ -104,8 +104,19 @@ public class Configurator {
return;
}
- //create and launch Adapter
- new Adapter();
+ //create and launch adapters
+ try {
+ GazeboAdapter oGazeboAdapter = new GazeboAdapter();
+ oGazeboAdapter.run();
+ UrdfAdapter oUrdfAdapter = new UrdfAdapter();
+ oUrdfAdapter.run();
+ BotNameAdapter oBotNameAdapter = new BotNameAdapter();
+ oBotNameAdapter.run();
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx);
+ return;
+ }
}
//get all parents of a given module from the Feature Model file
diff --git a/src/var/FeatureModelConfigurator/adapter.config b/src/var/usersetio.config
similarity index 62%
rename from src/var/FeatureModelConfigurator/adapter.config
rename to src/var/usersetio.config
index 058fa03..2ea172f 100644
--- a/src/var/FeatureModelConfigurator/adapter.config
+++ b/src/var/usersetio.config
@@ -1,19 +1,14 @@
<?xml version="1.0"?>
-<!-- Adapter configuration file. -->
-<!-- Path (relative path to Adapter.java location) and name value can be changed. -->
-<adapter>
+<!-- IO configuration file. -->
+<!-- Path (relative path to UserSetIOReader.java location) and name value can be changed. -->
+<io>
<input>
- <!-- Path to and name of feature model generated by Feature IDE. -->
- <featuremodel type="file" name="featuremodel.xml" path="./resources/output/" />
- <!-- Path to all available sensor configuration .xml files. -->
- <!-- Files with other endings are allowed and will be ignored. -->
- <sensorconfig type="directory" path="./resources/input/sensorconfig/" />
<!-- Path to all available .gazebo.xacro files. -->
<!-- Files with other endings are allowed and will be ignored. -->
- <gazebo_xacro type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/" />
+ <gazebo_xacro type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/" />
<!-- Path to all available .urdf.xacro files. -->
<!-- Files with other endings are allowed and will be ignored. -->
- <urdf_xacro type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/" />
+ <urdf_xacro type="directory" path="./../../sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/" />
</input>
<output>
<!-- Path to and name of the generated .gazebo.xacro file. -->
@@ -24,4 +19,4 @@
<!-- Define prefix/ postfix to be removed from the bots name to be compatible with testmanager.sh. -->
<botname type="file" name="botname.txt" path="./../../../build/sim/" remove_prefix="turtlebot3_" remove_suffix=""/>
</output>
-</adapter>
+</io>
--
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