Updated find package implementation to be consistent with control / d…

…escription yaml parameters

clearpath_config/common/types/package_path.py

@@ -0,0 +1,70 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, 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 Clearpath Robotics 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 HOLDER 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.
+
+from clearpath_config.common.types.file import File
+
+
+class PackagePath:
+    PACKAGE = "package"
+    PATH = "path"
+
+    def __init__(
+            self,
+            package: str = None,
+            path: str = None,
+            ) -> None:
+        self.package = package
+        self.path = File.clean(path, make_abs=False)
+
+    def from_dict(self, config: dict) -> None:
+        if self.PACKAGE in config:
+            self.package = config[self.PACKAGE]
+        if self.PATH in config:
+            self.path = config[self.PATH]
+
+    def to_dict(self) -> dict:
+        return {
+            self.PACKAGE: self.package,
+            self.PATH: self.path,
+        }
+
+    @property
+    def package(self) -> str:
+        return self._package
+
+    @package.setter
+    def package(self, value: str) -> None:
+        self._package = value
+
+    @property
+    def path(self) -> str:
+        return self._path
+
+    @path.setter
+    def path(self, value: str) -> None:
+        self._path = value

clearpath_config/links/links.py

@@ -497,8 +497,7 @@ def add_mesh(
             mesh: Mesh = None,
             # By Parameters
             name: str = None,
-            visual: str = Mesh.VISUAL,
-            package: str = Mesh.PACKAGE,
+            visual: dict = Mesh.VISUAL,
             parent: str = Accessory.PARENT,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY,
@@ -512,7 +511,6 @@ def add_mesh(
             mesh = Mesh(
                 name=name,
                 visual=visual,
-                package=package,
                 parent=parent,
                 xyz=xyz,
                 rpy=rpy,

clearpath_config/links/types/mesh.py

@@ -25,26 +25,22 @@
 # 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.
-import os
-
 from clearpath_config.common.types.accessory import Accessory
-from clearpath_config.common.types.file import File
 from clearpath_config.links.types.link import BaseLink
+from clearpath_config.common.types.package_path import PackagePath
 from typing import List
 
 
 class Mesh(BaseLink):
     LINK_TYPE = "mesh"
-    VISUAL = "empty.stl"
-    PACKAGE = ""
+    VISUAL = ""
     # COLLISION = "empty.stl"
 
     def __init__(
             self,
             name: str,
             parent: str = Accessory.PARENT,
-            visual: str = VISUAL,
-            package: str = PACKAGE,
+            visual: dict = VISUAL,
             # collision: float = COLLISION,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY,
@@ -60,8 +56,8 @@ def __init__(
             offset_rpy
         )
 
-        self.visual: str = Mesh.VISUAL
-        self.set_visual(visual, package)
+        self.visual: PackagePath = PackagePath(Mesh.VISUAL)
+        self.set_visual(visual)
 
     def to_dict(self) -> dict:
         d = super().to_dict()
@@ -71,17 +67,11 @@ def to_dict(self) -> dict:
     def from_dict(self, d: dict) -> None:
         super().from_dict(d)
         if 'visual' in d:
-            if 'package' in d:
-                self.set_visual(d['visual'], d['package'])
-            else:
-                self.set_visual(d['visual'])
+            self.set_visual(d['visual'])
 
-    def set_visual(self, visual: str, package: str = "") -> None:
-        if package:
-            self.visual = os.path.join("$(find " + package + ")",
-                                       File.clean(visual, make_abs=False))
-        else:
-            self.visual = File.clean(visual, make_abs=True)
+    def set_visual(self, visual: dict) -> None:
+        if visual:
+            self.visual.from_dict(visual)
 
-    def get_visual(self) -> str:
-        return self.visual
+    def get_visual(self) -> dict:
+        return self.visual.to_dict()

clearpath_config/platform/extras.py

@@ -25,10 +25,9 @@
 # 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.
-import os
-
 from clearpath_config.common.types.config import BaseConfig
 from clearpath_config.common.types.file import File
+from clearpath_config.common.types.package_path import PackagePath
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.common.utils.dictionary import (
     flatten_dict,
@@ -139,7 +138,6 @@ def __new__(cls, platform: str) -> dict:
 class ExtrasConfig(BaseConfig):
 
     EXTRAS = "extras"
-    URDF_PACKAGE = "urdf_package"
     URDF = "urdf"
     ROS_PARAMETERS = "ros_parameters"
 
@@ -156,7 +154,6 @@ class ExtrasConfig(BaseConfig):
 
     TEMPLATE = {
         EXTRAS: {
-            URDF_PACKAGE: URDF_PACKAGE,
             URDF: URDF,
             ROS_PARAMETERS: {
                 PLATFORM_VELOCITY_CONTROLLER: {
@@ -178,16 +175,14 @@ class ExtrasConfig(BaseConfig):
     KEYS[ROS_PARAMETERS] = ".".join([EXTRAS, ROS_PARAMETERS])
 
     DEFAULTS = {
-        URDF_PACKAGE: "",
-        URDF: "empty.urdf.xacro",
+        URDF: "",
         ROS_PARAMETERS: ROSParameterDefaults(BaseConfig.get_platform_model()),
     }
 
     def __init__(
             self,
             config: dict = {},
-            urdf_package: str = DEFAULTS[URDF_PACKAGE],
-            urdf: str = DEFAULTS[URDF],
+            urdf: dict = DEFAULTS[URDF],
             ros_parameters: dict = {},
             ) -> None:
         # ROS Parameter Setter Template
@@ -204,14 +199,12 @@ def __init__(
         }
         # Setter Template
         self.setters = {
-            self.KEYS[self.URDF_PACKAGE]: ExtrasConfig.urdf_package,
             self.KEYS[self.URDF]: ExtrasConfig.urdf,
             self.KEYS[self.ROS_PARAMETERS]: ExtrasConfig.ros_parameters,
         }
         # Initialization
         self._init_ros_parameter()
         self._config = {}
-        self.urdf_package = urdf_package
         self.urdf = urdf
         self.ros_parameters = ros_parameters
         # Set from Config
@@ -222,39 +215,20 @@ def update(self, serial_number: bool = False) -> None:
             self._update_ros_parameter()
 
     @property
-    def urdf_package(self) -> str:
-        urdf_package = (None if self._is_default(self._urdf_package, self.URDF_PACKAGE)
-                        else str(self._urdf_package))
-        self.set_config_param(
-            key=self.KEYS[self.URDF_PACKAGE],
-            value=urdf_package
-        )
-        return urdf_package
-
-    @urdf_package.setter
-    def urdf_package(self, value: str) -> None:
-        if value is None or value == "None":
-            return
-        self._urdf_package = value
-
-    @property
-    def urdf(self) -> str:
-        urdf = None if self._is_default(self._urdf, self.URDF) else str(self._urdf)
+    def urdf(self) -> dict:
+        urdf = None if self._is_default(self._urdf, self.URDF) else dict(self._urdf.to_dict())
         self.set_config_param(
             key=self.KEYS[self.URDF],
-            value=urdf
+            value=urdf,
         )
         return urdf
 
     @urdf.setter
-    def urdf(self, value: str) -> None:
+    def urdf(self, value: dict) -> None:
         if value is None or value == "None":
             return
-        elif self._urdf_package:
-            self._urdf = os.path.join("$(find " + self._urdf_package + ")",
-                                      File.clean(path=str(value), make_abs=False))
-        else:
-            self._urdf = File.clean(path=str(value), make_abs=True)
+        self._urdf = PackagePath()
+        self._urdf.from_dict(value)
 
     def _is_default(self, curr: str, key: str) -> bool:
         return curr == str(File(self.DEFAULTS[key]))

clearpath_config/platform/platform.py

@@ -27,54 +27,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.common.types.config import BaseConfig
+from clearpath_config.common.types.package_path import PackagePath
 from clearpath_config.common.utils.dictionary import flip_dict
 from clearpath_config.platform.battery import BatteryConfig
 from clearpath_config.platform.extras import ExtrasConfig
 from clearpath_config.platform.attachments.config import AttachmentsConfig
 from clearpath_config.platform.attachments.mux import AttachmentsConfigMux
 
 
-class PackagePath:
-    PACKAGE = "package"
-    PATH = "path"
-
-    def __init__(
-            self,
-            package: str = None,
-            path: str = None,
-            ) -> None:
-        self.package = package
-        self.path = path
-
-    def from_dict(self, config: dict) -> None:
-        if self.PACKAGE in config:
-            self.package = config[self.PACKAGE]
-        if self.PATH in config:
-            self.path = config[self.PATH]
-
-    def to_dict(self) -> dict:
-        return {
-            self.PACKAGE: self.package,
-            self.PATH: self.path,
-        }
-
-    @property
-    def package(self) -> str:
-        return self._package
-
-    @package.setter
-    def package(self, value: str) -> None:
-        self._package = value
-
-    @property
-    def path(self) -> str:
-        return self._path
-
-    @path.setter
-    def path(self, value: str) -> None:
-        self._path = value
-
-
 class DescriptionPackagePath(PackagePath):
     MACRO = "macro"
     PARAMETERS = "parameters"