Third party tool support

hello-robot / stretch_urdf

URDFs for the Stretch mobile manipulators from Hello Robot Inc.

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Closed aedsinger closed 2 months ago

aedsinger commented 6 months ago

We need a simple way to support 3rd party URDF / tools. The proposed approach is:

urdf_generate.py moves to stretch_urdf_generate.py
This tool takes a --path argument to support an arbitrary repository / directory path
The tool looks under this path for the directory structure matching stretch_urdf
Then stretch_urdf_generate.py -- path generates new urdfs using third party mesh and xacro
Then stretch_urdf_ros_update.py --path copies the new urdf / xacro / mesh to ROS2 install

hello-fazil commented 2 months ago

All the mentioned features have been implemented through stretch_urdf_ros_update.py tool. Except the path argument which is tracked in this issue https://github.com/hello-robot/stretch_urdf/issues/25