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[Personalrobots-commit] SF.net SVN: personalrobots:[6614] pkg/trunk
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From: <rdi...@us...> - 2008-11-12 22:56:57
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Revision: 6614
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6614&view=rev
Author: rdiankov
Date: 2008-11-12 22:56:51 +0000 (Wed, 12 Nov 2008)
Log Message:
-----------
added conversion utility to go from urdf to openrave files (openrave package also added), switched conversion of stl media files over to gazebo_robot_description in order to avoid ogre dependency
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml
Added Paths:
-----------
pkg/trunk/3rdparty/openrave/
pkg/trunk/3rdparty/openrave/Makefile
pkg/trunk/3rdparty/openrave/manifest.xml
pkg/trunk/robot_descriptions/openrave_robot_description/
pkg/trunk/robot_descriptions/openrave_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/openrave_robot_description/Makefile
pkg/trunk/robot_descriptions/openrave_robot_description/models/
pkg/trunk/robot_descriptions/openrave_robot_description/robots/
pkg/trunk/robot_descriptions/openrave_robot_description/src/
pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp
Added: pkg/trunk/3rdparty/openrave/Makefile
===================================================================
--- pkg/trunk/3rdparty/openrave/Makefile (rev 0)
+++ pkg/trunk/3rdparty/openrave/Makefile 2008-11-12 22:56:51 UTC (rev 6614)
@@ -0,0 +1,18 @@
+all: openrave
+
+SVN_DIR = openrave_svn
+SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
+include $(shell rospack find mk)/svn_checkout.mk
+
+.PHONY: openrave
+
+build: SVN_UP openrave
+
+openrave: $(SVN_DIR)
+ cd $(SVN_DIR) && svn up && make prefix=$(PWD) && make install
+
+clean:
+ make -C $(SVN_DIR) clean
+
+wipe: clean
+ rm -rf $(SVN_DIR) include lib share
Added: pkg/trunk/3rdparty/openrave/manifest.xml
===================================================================
--- pkg/trunk/3rdparty/openrave/manifest.xml (rev 0)
+++ pkg/trunk/3rdparty/openrave/manifest.xml 2008-11-12 22:56:51 UTC (rev 6614)
@@ -0,0 +1,10 @@
+<package>
+ <description brief="OpenRAVE">
+ A planning architecture for autonomous robotics.
+ </description>
+ <license>LGPL</license>
+ <export>
+ <cpp lflags="-Wl,-rpath,${prefix}/lib `${prefix}/bin/openrave-config --libs`" cflags="`${prefix}/bin/openrave-config --cflags`"/>
+ </export>
+ <versioncontrol type="svn" url="https://openrave.svn.sourceforge.net/svnroot/openrave"/>
+</package>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-11-12 22:39:24 UTC (rev 6613)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-11-12 22:56:51 UTC (rev 6614)
@@ -8,7 +8,41 @@
find_ros_package(gazebo_robot_description)
get_target_property(urdf2gazebo_exe urdf2gazebo LOCATION)
-message(${urdf2gazebo_exe})
-message(${wg_robot_description_PACKAGE_PATH}/pr2/pr2.xml)
-message(${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml.model)
+# build the ogre mesh files
+file(GLOB pr2_stl_files ${wg_robot_description_PACKAGE_PATH}/models/pr2/*.stl)
+set(pr2_gen_files "")
+set(pr2_out_path ${CMAKE_CURRENT_SOURCE_DIR}/world/Media/models/pr2)
+
+foreach(it ${pr2_stl_files})
+ get_filename_component(basename ${it} NAME_WE)
+
+ # convert to ogre files
+ add_custom_command(
+ OUTPUT ${pr2_out_path}/${basename}.mesh
+ COMMAND rosrun
+ ARGS ogre_tools stl_to_mesh ${it} ${pr2_out_path}/${basename}.mesh
+ DEPENDS ${it})
+
+ set(pr2_gen_files ${pr2_gen_files} ${pr2_out_path}/${basename}.mesh)
+endforeach(it)
+
+add_custom_target(media_files ALL DEPENDS ${pr2_gen_files})
+
+# process all urdf files
+set(PR2_OUTPUT ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml.model)
+set(PR2_OUTPUT_NOLIMIT ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_nolimit.model)
+set(PR2_INPUT ${wg_robot_description_PACKAGE_PATH}/pr2/pr2.xml)
+add_custom_command(
+ OUTPUT ${PR2_OUTPUT}
+ COMMAND ${urdf2gazebo_exe}
+ ARGS ${PR2_INPUT} ${PR2_OUTPUT}
+ DEPENDS ${PR2_INPUT})
+add_custom_command(
+ OUTPUT ${PR2_OUTPUT_NOLIMIT}
+ COMMAND ${urdf2gazebo_exe}
+ ARGS ${PR2_INPUT} ${PR2_OUTPUT_NOLIMIT} 1
+ DEPENDS ${PR2_INPUT})
+
+add_custom_target(pr2_urdf ALL DEPENDS ${PR2_OUTPUT} ${PR2_OUTPUT_NOLIMIT})
+add_dependencies(pr2_urdf urdf2gazebo)
Added: pkg/trunk/robot_descriptions/openrave_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/openrave_robot_description/CMakeLists.txt (rev 0)
+++ pkg/trunk/robot_descriptions/openrave_robot_description/CMakeLists.txt 2008-11-12 22:56:51 UTC (rev 6614)
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 2.6)
+include(rosbuild)
+rospack(openrave_robot_description)
+rospack_add_executable(urdf2openrave src/urdf2openrave.cpp)
+
+# find needed paths
+find_ros_package(wg_robot_description)
+find_ros_package(openrave_robot_description)
+get_target_property(urdf2openrave_exe urdf2openrave LOCATION)
+
+# process all urdf files
+set(PR2_OUTPUT ${openrave_robot_description_PACKAGE_PATH}/robots/pr2.robot.xml)
+set(PR2_INPUT ${wg_robot_description_PACKAGE_PATH}/pr2/pr2.xml)
+add_custom_command(
+ OUTPUT ${PR2_OUTPUT}
+ COMMAND ${urdf2openrave_exe}
+ ARGS ${PR2_INPUT} ${PR2_OUTPUT} ../models
+ DEPENDS ${PR2_INPUT} urdf2openrave)
+
+add_custom_target(pr2_urdf ALL DEPENDS ${PR2_OUTPUT})
+add_dependencies(pr2_urdf urdf2openrave)
Added: pkg/trunk/robot_descriptions/openrave_robot_description/Makefile
===================================================================
--- pkg/trunk/robot_descriptions/openrave_robot_description/Makefile (rev 0)
+++ pkg/trunk/robot_descriptions/openrave_robot_description/Makefile 2008-11-12 22:56:51 UTC (rev 6614)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
Added: pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp
===================================================================
--- pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp (rev 0)
+++ pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp 2008-11-12 22:56:51 UTC (rev 6614)
@@ -0,0 +1,391 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the Willow Garage nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#include <cstdio>
+#include <cstdlib>
+#include <cmath>
+
+#include <vector>
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <list>
+
+#include <urdf/URDF.h>
+#include <libTF/Pose3D.h>
+
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <errno.h>
+
+using namespace std;
+static list<string> s_listResourceNames;
+
+string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL)
+{
+ stringstream ss;
+ for (unsigned int i = 0 ; i < count ; i++) {
+ if (i > 0)
+ ss << " ";
+ ss << (conv ? conv(values[i]) : values[i]);
+ }
+ return ss.str();
+}
+
+double rad2deg(double v)
+{
+ return v * 180.0 / M_PI;
+}
+
+void setupTransform(libTF::Pose3D &transform, const double *xyz, const double *rpy)
+{
+ transform.setFromEuler(xyz[0], xyz[1], xyz[2], rpy[2], rpy[1], rpy[0]);
+}
+
+void addKeyValue(TiXmlElement *elem, const string& key, const string &value)
+{
+ TiXmlElement *ekey = new TiXmlElement(key);
+ TiXmlText *text_ekey = new TiXmlText(value);
+ ekey->LinkEndChild(text_ekey);
+ elem->LinkEndChild(ekey);
+}
+
+void addTransform(TiXmlElement *elem, const::libTF::Pose3D& transform)
+{
+ libTF::Position pz;
+ transform.getPosition(pz);
+ double cpos[3] = { pz.x, pz.y, pz.z };
+
+ libTF::Quaternion q;
+ transform.getQuaternion(q);
+ double cquat[4] = { q.w, q.x, q.y, q.z };
+
+ // set geometry transform
+ addKeyValue(elem, "translation", values2str(3, cpos));
+ addKeyValue(elem, "quaternion", values2str(4, cquat));
+}
+
+void copyOpenraveMap(const robot_desc::URDF::Map& data, TiXmlElement *elem, const vector<string> *tags = NULL)
+{
+ vector<string> openrave_names;
+ data.getMapTagNames("openrave", openrave_names);
+ for (unsigned int k = 0 ; k < openrave_names.size() ; ++k) {
+ map<string, string> m = data.getMapTagValues("openrave", openrave_names[k]);
+ vector<string> accepted_tags;
+ if (tags)
+ accepted_tags = *tags;
+ else
+ for (map<string, string>::iterator it = m.begin() ; it != m.end() ; it++)
+ accepted_tags.push_back(it->first);
+
+ for (unsigned int i = 0 ; i < accepted_tags.size() ; ++i)
+ if (m.find(accepted_tags[i]) != m.end())
+ addKeyValue(elem, accepted_tags[i], m[accepted_tags[i]]);
+
+ map<string, const TiXmlElement*> x = data.getMapTagXML("openrave", openrave_names[k]);
+ for (map<string, const TiXmlElement*>::iterator it = x.begin() ; it != x.end() ; it++) {
+ for (const TiXmlNode *child = it->second->FirstChild() ; child ; child = child->NextSibling())
+ elem->LinkEndChild(child->Clone());
+ }
+ }
+}
+
+// ignore all collision data for the time being
+void convertLink(TiXmlElement *root, robot_desc::URDF::Link *link, const libTF::Pose3D &transform, bool enforce_limits)
+{
+ libTF::Pose3D currentTransform = transform;
+
+ TiXmlElement *body = new TiXmlElement("body");
+ body->SetAttribute("name", link->name);
+
+ // compute global transform
+ libTF::Pose3D localTransform;
+ setupTransform(localTransform, link->xyz, link->rpy);
+ currentTransform.multiplyPose(localTransform);
+ addTransform(body, currentTransform);
+
+ // begin create geometry node
+ TiXmlElement *geom = new TiXmlElement("geom");
+
+ string type;
+
+ switch(link->visual->geometry->type) {
+ case robot_desc::URDF::Link::Geometry::MESH: {
+ robot_desc::URDF::Link::Geometry::Mesh* mesh = static_cast<robot_desc::URDF::Link::Geometry::Mesh*>(link->visual->geometry->shape);
+
+ // Trim Both leading and trailing spaces
+ size_t startpos = mesh->filename.find_first_not_of(" \t");
+ size_t endpos = mesh->filename.find_last_not_of(" \t");
+
+ if(( string::npos == startpos ) || ( string::npos == endpos))
+ mesh->filename = "";
+ else
+ mesh->filename = mesh->filename.substr( startpos, endpos-startpos+1 );
+
+ if( mesh->filename.empty() ) {
+ cerr << "mesh file is empty for link " << link->name << ", adding box" << endl;
+ type = "box";
+ double extents[3] = {0.01,0.01,0.01};
+ addKeyValue(geom, "extents", values2str(3,extents));
+ }
+ else {
+ type = "trimesh";
+ stringstream ss;
+
+ s_listResourceNames.push_back(mesh->filename + "_hi.iv");
+ s_listResourceNames.push_back(mesh->filename + "_low.iv");
+
+ ss << mesh->filename << "_hi.iv " << mesh->scale[0];
+ addKeyValue(geom, "render", ss.str());
+
+ ss.str("");
+ ss << mesh->filename << "_low.iv " << mesh->scale[0];
+ addKeyValue(geom, "data", ss.str());
+ }
+ break;
+ }
+ case robot_desc::URDF::Link::Geometry::BOX: {
+ type = "box";
+ robot_desc::URDF::Link::Geometry::Box* box = static_cast<robot_desc::URDF::Link::Geometry::Box*>(link->visual->geometry->shape);
+ addKeyValue(geom, "extents", values2str(3,box->size));
+ break;
+ }
+ case robot_desc::URDF::Link::Geometry::CYLINDER: {
+ type = "cylinder";
+ robot_desc::URDF::Link::Geometry::Cylinder* cylinder = static_cast<robot_desc::URDF::Link::Geometry::Cylinder*>(link->visual->geometry->shape);
+ addKeyValue(geom,"radius",values2str(1,&cylinder->radius));
+ addKeyValue(geom,"height",values2str(1,&cylinder->length));
+ break;
+ }
+ case robot_desc::URDF::Link::Geometry::SPHERE: {
+ type = "sphere";
+ double radius = static_cast<robot_desc::URDF::Link::Geometry::Sphere*>(link->visual->geometry->shape)->radius;
+ addKeyValue(geom,"radius",values2str(1,&radius));
+ break;
+ }
+ default: {
+ fprintf(stderr,"Unknown body type: %d in geometry '%s'\n", link->visual->geometry->type, link->visual->geometry->name.c_str());
+ exit(-1);
+ }
+ }
+
+ geom->SetAttribute("type", type);
+
+ // compute the visualisation transfrom
+ // libTF::Pose3D coll;
+ // setupTransform(coll, link->collision->xyz, link->collision->rpy);
+ // coll.invert();
+
+ libTF::Pose3D vis;
+ setupTransform(vis, link->visual->xyz, link->visual->rpy);
+ // coll.multiplyPose(vis);
+
+ addTransform(geom, vis);
+
+ copyOpenraveMap(link->visual->data, geom);
+ body->LinkEndChild(geom); // end geom
+
+ // mass
+ TiXmlElement* mass = new TiXmlElement("mass");
+ mass->SetAttribute("type","custom");
+ addKeyValue(mass, "total", values2str(1,&link->inertial->mass));
+
+ double* inertia = link->inertial->inertia;
+ double Im[9] = {inertia[0],inertia[1],inertia[2],inertia[1],inertia[3],inertia[4],inertia[2],inertia[4],inertia[5]};
+ addKeyValue(mass, "inertia", values2str(9, Im));
+ addKeyValue(mass, "com", values2str(3, link->inertial->com));
+ body->LinkEndChild(mass);
+
+ copyOpenraveMap(link->data, body);
+ root->LinkEndChild(body);
+
+ /* compute the joint tag */
+ bool fixed = false;
+ string jtype;
+ switch (link->joint->type) {
+ case robot_desc::URDF::Link::Joint::REVOLUTE:
+ jtype = "hinge";
+ break;
+ case robot_desc::URDF::Link::Joint::PRISMATIC:
+ jtype = "slider";
+ break;
+ case robot_desc::URDF::Link::Joint::FLOATING:
+ case robot_desc::URDF::Link::Joint::PLANAR:
+ // sometimes used to attach the base
+ break;
+ case robot_desc::URDF::Link::Joint::FIXED:
+ jtype = "hinge";
+ fixed = true;
+ break;
+ default:
+ fprintf(stderr, "Unknown joint type: %d in link '%s'\n", link->joint->type, link->name.c_str());
+ break;
+ }
+
+ if (!jtype.empty()) {
+ TiXmlElement *joint = new TiXmlElement("joint");
+ joint->SetAttribute("type", jtype);
+ joint->SetAttribute("name", link->joint->name);
+
+ addKeyValue(joint, "body", link->name);
+ addKeyValue(joint, "body", link->parentName);
+ addKeyValue(joint, "offsetfrom", link->name);
+
+ if (fixed) {
+ addKeyValue(joint, "lowStop", "0");
+ addKeyValue(joint, "highStop", "0");
+ addKeyValue(joint, "axis", "1 0 0");
+ }
+ else {
+ addKeyValue(joint, "axis", values2str(3, link->joint->axis));
+ addKeyValue(joint, "anchor", values2str(3, link->joint->anchor));
+
+ if (enforce_limits && link->joint->isSet["limit"]) {
+ if (jtype == "slider") {
+ addKeyValue(joint, "lostop", values2str(1, link->joint->limit ));
+ addKeyValue(joint, "histop", values2str(1, link->joint->limit + 1 ));
+ }
+ else {
+ addKeyValue(joint, "lostop", values2str(1, link->joint->limit , rad2deg));
+ addKeyValue(joint, "histop", values2str(1, link->joint->limit + 1, rad2deg));
+ }
+ }
+ }
+
+ root->LinkEndChild(joint);
+ }
+
+
+ for (unsigned int i = 0 ; i < link->children.size() ; ++i)
+ convertLink(root, link->children[i], currentTransform, enforce_limits);
+}
+
+void usage(const char *progname)
+{
+ printf("\nUsage: %s URDF.xml OpenRAVE.robot.xml\n", progname);
+ printf(" where URDF.xml is the file containing a robot description in the Willow Garage format (URDF)\n");
+ printf(" and OpenRAVE.robot.xml is the file where the OpenRAVE robot model should be written\n\n");
+}
+
+int main(int argc, char **argv)
+{
+ if (argc < 3) {
+ usage(argv[0]);
+ exit(1);
+ }
+
+ bool enforce_limits = true;
+ robot_desc::URDF wgxml;
+
+ if (!wgxml.loadFile(argv[1])) {
+ fprintf(stderr,"Unable to load robot model from %s\n", argv[1]);
+ exit(2);
+ }
+
+ TiXmlDocument doc;
+
+ // extract name only
+ string robotname = argv[1];
+ size_t pos = robotname.find_last_of('/');
+ if( pos == string::npos )
+ pos = robotname.find_last_of('\\');
+ if( pos != string::npos )
+ robotname = robotname.substr(pos+1);
+ pos = robotname.find_first_of('.');
+ if( pos != string::npos )
+ robotname = robotname.substr(0,pos);
+
+ string outresdir = argv[2];
+ pos = outresdir.find_last_of('/');
+ if( pos == string::npos )
+ pos = outresdir.find_last_of('\\');
+ if( pos != string::npos )
+ outresdir = outresdir.substr(0,pos);
+
+ TiXmlDeclaration *decl = new TiXmlDeclaration("1.0", "", "");
+ doc.LinkEndChild(decl);
+
+ // create root element and define needed namespaces
+ TiXmlElement *robot = new TiXmlElement("Robot");
+ // Create a node to enclose the robot body
+ cout << "creating robot: " << robotname << endl;
+ robot->SetAttribute("name", robotname.c_str());
+
+ TiXmlElement *kinbody = new TiXmlElement("KinBody");
+ if( argc >= 4 ) {
+ if( outresdir.size() > 0 )
+ outresdir += "/";
+ outresdir += argv[3];
+ addKeyValue(kinbody,"modelsdir",argv[3]);
+ }
+
+ outresdir += "/" + robotname;
+
+ // set the transform for the whole model to identity
+ libTF::Pose3D transform;
+ for (unsigned int k = 0 ; k < wgxml.getDisjointPartCount() ; ++k)
+ convertLink(kinbody, wgxml.getDisjointPart(k), transform, enforce_limits);
+
+ /* find all data item types */
+ copyOpenraveMap(wgxml.getMap(), kinbody);
+ robot->LinkEndChild(kinbody);
+ doc.LinkEndChild(robot);
+
+ if (!doc.SaveFile(argv[2])) {
+ fprintf(stderr,"Unable to save gazebo model in %s\n", argv[2]);
+ exit(3);
+ }
+
+ string inresdir = wgxml.getResourceLocation();
+ if( inresdir.size() > 0 )
+ inresdir += "/";
+ if( outresdir.size() > 0 )
+ outresdir += "/";
+
+ int ret = mkdir(outresdir.c_str(), 0777);
+
+ if( ret != 0 && errno != EEXIST ) {
+ cerr << "failed to create resource directory " << outresdir << endl;
+ exit(-2);
+ }
+
+ cout << "copying resource files from " << inresdir << " to " << outresdir << endl;
+ for(list<string>::iterator it = s_listResourceNames.begin(); it != s_listResourceNames.end(); ++it) {
+ ifstream ifile((inresdir+*it).c_str(), ios_base::binary);
+ ofstream ofile((outresdir+*it).c_str(), ios_base::binary);
+ ofile << ifile.rdbuf();
+ }
+
+ return 0;
+}
Modified: pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt 2008-11-12 22:39:24 UTC (rev 6613)
+++ pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt 2008-11-12 22:56:51 UTC (rev 6614)
@@ -23,15 +23,8 @@
ARGS ${it} ${basepath}/${basename}.iv
DEPENDS ${it} ivcon)
-#ogre files
-add_custom_command(
- OUTPUT ${basepath}/${basename}.mesh
- COMMAND rosrun
- ARGS ogre_tools stl_to_mesh ${it} ${basepath}/${basename}.mesh
- DEPENDS ${it})
+set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}.iv)
-set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}.iv ${basepath}/${basename}.mesh)
-
endforeach(it)
add_custom_target(media_files ALL DEPENDS ${pr2_gen_files})
Modified: pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml 2008-11-12 22:39:24 UTC (rev 6613)
+++ pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml 2008-11-12 22:56:51 UTC (rev 6614)
@@ -10,8 +10,6 @@
<license>BSD</license>
<depend package="wg_robot_description_parser" />
-<!-- <depend package="ogre_tools" />-->
-
<url>http://pr.willowgarage.com/wiki/RobotDescriptionFormat</url>
</package>
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