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[hrpsys_ros_bridge_tutorials] Enable to compile on pure Ubuntu Focal #625

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Merged
k-okada merged 1 commit into from
May 9, 2025
Merged

[hrpsys_ros_bridge_tutorials] Enable to compile on pure Ubuntu Focal #625

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12 changes: 10 additions & 2 deletions hrpsys_ros_bridge_tutorials/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -543,6 +543,14 @@ else ()
set(euscollada_PACKAGE_PATH ${euscollada_PREFIX}/share/euscollada)
endif()

# enable to execute with correct python version
# cf. https://github.com/tork-a/openrtm_aist_python-release/pull/5
find_package(PythonInterp QUIET)
if(NOT PYTHONINTERP_FOUND)
find_package(Python REQUIRED)
set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
endif()

macro (generate_hand_attached_hrp2_model _robot_name)
set(_model_dir "${PROJECT_SOURCE_DIR}/models/")
set(_in_urdf_file "${_model_dir}/${_robot_name}.urdf")
Expand All @@ -551,7 +559,7 @@ macro (generate_hand_attached_hrp2_model _robot_name)
string(TOLOWER ${_robot_name} _srobot_name)
message("generate hand_attached_hrp2_model for ${_robot_name}")
add_custom_command(OUTPUT ${_out_urdf_file}
COMMAND ${_script_file}
COMMAND ${PYTHON_EXECUTABLE} ${_script_file}
LARM_LINK6 RARM_LINK6 ${_in_urdf_file} ${_out_urdf_file}
DEPENDS ${_in_urdf_file} ${_script_file} ${_srobot_name}_${PROJECT_NAME}_compile_urdf)
endmacro()
Expand All @@ -577,7 +585,7 @@ macro (attach_sensor_and_endeffector_to_hrp2jsk_urdf
set(_out_urdf_file "${_model_dir}/${_out_file}")
set(_script_file ${euscollada_PACKAGE_PATH}/scripts/add_sensor_to_collada.py)
add_custom_command(OUTPUT ${_out_urdf_file}
COMMAND ${_script_file}
COMMAND ${PYTHON_EXECUTABLE} ${_script_file}
${_in_urdf_file} -O ${_out_urdf_file} -C ${_in_yaml_file}
DEPENDS ${_in_urdf_file} ${_in_yaml_file} ${_script_file})
list(APPEND compile_urdf_robots ${_out_urdf_file})
Expand Down
15 changes: 13 additions & 2 deletions hrpsys_ros_bridge_tutorials/models/gen_hand_attached_staro_model.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,18 @@ INPUT_FILE=$2
EUSCOLLADA_PATH=$3
BODY_FILE=${INPUT_FILE//.urdf/_body.urdf}

# enable to execute with correct python version
# cf. https://github.com/tork-a/openrtm_aist_python-release/pull/5
if command -v python3 &>/dev/null; then
PYTHON_EXECUTABLE=$(command -v python3)
elif command -v python &>/dev/null; then
PYTHON_EXECUTABLE=$(command -v python)
else
echo "Cannot find python executable"
exit 1
fi

tmp1=`mktemp`
tmp2=`mktemp`
${EUSCOLLADA_PATH}/scripts/remove_sensor_from_urdf.py LARM_LINK7 $INPUT_FILE $tmp1
${EUSCOLLADA_PATH}/scripts/remove_sensor_from_urdf.py RARM_LINK7 $tmp1 $BODY_FILE
${PYTHON_EXECUTABLE} ${EUSCOLLADA_PATH}/scripts/remove_sensor_from_urdf.py LARM_LINK7 $INPUT_FILE $tmp1
${PYTHON_EXECUTABLE} ${EUSCOLLADA_PATH}/scripts/remove_sensor_from_urdf.py RARM_LINK7 $tmp1 $BODY_FILE
17 changes: 14 additions & 3 deletions hrpsys_ros_bridge_tutorials/models/gen_sensor_attached_staro_model.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,22 @@ input_urdf=$3
output_urdf=$4
yaml_file=$5

# enable to execute with correct python version
# cf. https://github.com/tork-a/openrtm_aist_python-release/pull/5
if command -v python3 &>/dev/null; then
PYTHON_EXECUTABLE=$(command -v python3)
elif command -v python &>/dev/null; then
PYTHON_EXECUTABLE=$(command -v python)
else
echo "Cannot find python executable"
exit 1
fi

# generating model with sensors
function add_sensor_to_tmp_urdf()
{
tmp_model=`mktemp`
${eusurdf_path}/scripts/add_sensor_to_urdf.py $@ $tmp_model
${PYTHON_EXECUTABLE} ${eusurdf_path}/scripts/add_sensor_to_urdf.py $@ $tmp_model
if [ $? == 0 ]; then
echo $tmp_model
else
Expand All @@ -24,7 +35,7 @@ function add_sensor_to_tmp_urdf()
function add_eef_to_tmp_urdf()
{
tmp_model=`mktemp`
${eusurdf_path}/scripts/add_eef_to_urdf.py $@ $tmp_model
${PYTHON_EXECUTABLE} ${eusurdf_path}/scripts/add_eef_to_urdf.py $@ $tmp_model
if [ $? == 0 ]; then
echo $tmp_model
else
Expand Down Expand Up @@ -59,7 +70,7 @@ function generate_staro_model()
# # tmp_model11=$(add_sensor_to_tmp_urdf 0 0.2 -0.2 0 0 1.57 LARM_LINK6 LARM_cb_jig $tmp_model10)
# # tmp_model12=$(add_sensor_to_tmp_urdf 0 -0.2 -0.2 0 0 1.57 RARM_LINK6 RARM_cb_jig $tmp_model11)
# cp $tmp_model4 $2
${eusurdf_path}/scripts/add_sensor_to_collada.py $1 -O $2 -C $3
${PYTHON_EXECUTABLE} ${eusurdf_path}/scripts/add_sensor_to_collada.py $1 -O $2 -C $3
}

generate_staro_model $input_urdf $output_urdf $yaml_file