Adding the new tool stretch_urdf_ros_update.py which would automatically copy the appropriate urdf/xacros and meshes to ROS/ROS2 stretch_description package after reading the params robot.model_name and robot.tool.
Therefore, a user could update the stretch config parameters after a supported tool change and just run this tool to upgrade their ros2 urdf.
It also has a single command (--ros2_rebuild) to rebuild the Stretch Description package of ros2 with calibrated urdf. A prompt to run this command is given after every URDF update attempt.
Additionally, the user could also manually pass in a robot --model and --tool name configuration to upgrade their Ros URDFs. This is helpful in the event of using the stretch_description package outside the robot for simulation or remote rviz visualization setup.
The tool should be smart enough to allow only the robot model + tool configurations available from stretch_urdf package.
$ stretch_urdf_ros_update.py -h
For use with S T R E T C H (R) from Hello Robot Inc.
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usage: stretch_urdf_ros_update.py [-h] [-v] [--model {RE1V0,RE2V0,SE3}] [--tool TOOL] [--ros2_rebuild] [-y]
Tool to update the ROS Stretch Description package Xacros and Mesh files based on the configured End-of-Arm tool.
options:
-h, --help show this help message and exit
-v, --verbose Prints more info
--model {RE1V0,RE2V0,SE3}
Choose a Robot model name.
--tool TOOL Choose a supported Robot tool name.
--ros2_rebuild Rebuild ROS2's Stretch Description package
-y, --yes Override Confirmation prompt.
ROS URDF Update tool
robot.model_nameandrobot.tool.--ros2_rebuild) to rebuild the Stretch Description package of ros2 with calibrated urdf. A prompt to run this command is given after every URDF update attempt.--modeland--toolname configuration to upgrade their Ros URDFs. This is helpful in the event of using the stretch_description package outside the robot for simulation or remote rviz visualization setup.