mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-11 02:40:18 +08:00
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
# Copyright 2023 Intel Corporation. All Rights Reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
import os
|
|
import xacro
|
|
import tempfile
|
|
|
|
def to_urdf(xacro_path, parameters=None):
|
|
"""Convert the given xacro file to URDF file.
|
|
* xacro_path -- the path to the xacro file
|
|
* parameters -- to be used when xacro file is parsed.
|
|
"""
|
|
with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
|
|
urdf_path = xacro_file.name
|
|
|
|
# open and process file
|
|
doc = xacro.process_file(xacro_path, mappings=parameters)
|
|
# open the output file
|
|
with open(urdf_path, 'w') as urdf_file:
|
|
urdf_file.write(doc.toprettyxml(indent=' '))
|
|
|
|
return urdf_path
|