Update Description script using subprocess module

stretch_description/batch/update_description.py

@@ -5,17 +5,36 @@ This script updates the Mesh files and URDF file specific to a robot batch.
 import os
 from os.path import exists
 import stretch_body.hello_utils as hu
+import subprocess
+import sys
+
+
+def run_cmd(cmdstr):
+    process = subprocess.run(cmdstr, capture_output=True, text=True, shell=True)
+    if process.returncode != 0:
+        print("update_description.py ERROR: {}".format(process.stderr), file=sys.stderr)
+        sys.exit(1)
+    return process
+
 
 if exists(hu.get_fleet_directory() + 'stretch_configuration_params.yaml'):
     batch_name = hu.read_fleet_yaml('stretch_configuration_params.yaml')['robot']['batch_name'].lower()
 else:
     batch_name = hu.read_fleet_yaml('stretch_re1_factory_params.yaml')['robot']['batch_name'].lower()
 
-cmd_cp_meshes = 'cp ~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name + '/meshes/*.STL ~/catkin_ws/src/stretch_ros/stretch_description/meshes'
-cmd_cp_urdfs = 'cp ~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name + '/urdf/* ~/catkin_ws/src/stretch_ros/stretch_description/meshes'
+batch_meshes_path = os.path.expanduser(
+    '~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/meshes/*.STL'
+batch_urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/urdf/*.xacro'
+
+meshes_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/meshes')
+urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/urdf')
+
+cmd_cp_meshes = 'cp {} {}'.format(batch_meshes_path, meshes_path)
+cmd_cp_urdfs = 'cp {} {}'.format(batch_urdfs_path, urdfs_path)
 
 print("Copying in Mesh files and URDF files from batch:" + batch_name)
 print(cmd_cp_meshes)
-os.system(cmd_cp_meshes)
+run_cmd(cmd_cp_meshes)
+
 print(cmd_cp_urdfs)
-os.system(cmd_cp_urdfs)
+run_cmd(cmd_cp_urdfs)