22 #include "robot_description_thread.h"
31 #define CFG_PREFIX "/ros/robot-description/"
38 ROSRobotDescriptionThread::ROSRobotDescriptionThread()
39 :
Thread(
"ROSRobotDescriptionThread",
Thread::OPMODE_WAITFORWAKEUP)
43 ROSRobotDescriptionThread::~ROSRobotDescriptionThread()
55 if (cfg_urdf_path_.substr(0, 1) !=
"/") {
57 cfg_urdf_path_.insert(0, RESDIR
"/urdf/");
59 ifstream urdf_file(cfg_urdf_path_.c_str());
60 if (!urdf_file.is_open()) {
62 throw Exception(
"Failed to open URDF File %s", cfg_urdf_path_.c_str());
64 while (getline(urdf_file, line)) {
69 ros::param::set(cfg_ros_param_, urdf);
75 ros::param::del(cfg_ros_param_);