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61 lines
2.8 KiB
61 lines
2.8 KiB
#!/bin/bash
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# Prior to running this script make sure you have used stretch_calibration to create a calibrated URDF. This script also requires rpl, which can be installed with "sudo apt install rpl".
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echo "Prior to running this script make sure you have used stretch_calibration to create a calibrated URDF. This script also requires rpl, which can be installed with sudo apt install rpl."
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echo ""
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# Move previous exported_urdf to exported_urdf_previous.
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if [[ -d ./exported_urdf ]]; then
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echo "Move previous exported_urdf to exported_urdf_previous."
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echo "mv ./exported_urdf ./exported_urdf_previous"
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mv ./exported_urdf ./exported_urdf_previous
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echo ""
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fi
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# Create new exported URDF directories.
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echo "Create new exported URDF directories."
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echo "mkdir ./exported_urdf/"
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mkdir ./exported_urdf/
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echo "mkdir ./exported_urdf/meshes/"
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mkdir ./exported_urdf/meshes/
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echo ""
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# Copy the mesh files and the original calibrated URDF file to the exported URDF.
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echo "Copy the mesh files and the current calibrated URDF file to the exported URDF."
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echo "cp ../meshes/* ./exported_urdf/meshes/"
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cp ../meshes/* ./exported_urdf/meshes/
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echo "cp ./stretch.urdf ./exported_urdf/"
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cp ./stretch.urdf ./exported_urdf/
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echo ""
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# Replace the mesh file locations in the original URDF with local directories."
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echo "Replace the mesh file locations in the exported URDF with local directories."
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OLD_NAME="package://stretch_description/"
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NEW_NAME="./"
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echo "rpl $OLD_NAME $NEW_NAME ./exported_urdf/stretch.urdf"
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rpl -q --encoding UTF-8 $OLD_NAME $NEW_NAME ./exported_urdf/stretch.urdf
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echo ""
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# Copy D435i mesh from the realsense2_description ROS package to the exported URDF.
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echo "Copy D435i mesh from the realsense2_description ROS package to the exported URDF."
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echo "cp `rospack find realsense2_description`/meshes/d435.dae ./exported_urdf/meshes/"
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cp `rospack find realsense2_description`/meshes/d435.dae ./exported_urdf/meshes/
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echo "rpl "package://realsense2_description/" "./" ./exported_urdf/stretch.urdf"
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rpl -q --encoding UTF-8 "package://realsense2_description/" "./" ./exported_urdf/stretch.urdf
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echo ""
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# copy controller calibration file used by stretch ROS
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echo "Copy the current controller parameter yaml file to the exported URDF."
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echo "cp `rospack find stretch_core`/config/controller_calibration_head.yaml ./exported_urdf/"
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cp `rospack find stretch_core`/config/controller_calibration_head.yaml ./exported_urdf/
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echo ""
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# copy license file
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echo "Copy license file to exported URDF"
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echo "cp export_urdf_license_template.md ./exported_urdf/LICENSE.md"
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cp export_urdf_license_template.md ./exported_urdf/LICENSE.md
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echo "Copy the exported URDF to the standard Stretch directory."
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echo "cp -rf exported_urdf/* $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf"
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cp -rf exported_urdf/* $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf
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echo ""
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