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I have a xacro file that I used for a specific piece of hardware. I figured out how to store custom data structures within the gpio framework within ros2_control

example:

    <gpio name="motion_command_output">
        <param name="byteIndex">0</param>
        <param name="bitMask">0x01</param>
    </gpio>

This would get automatically loading into the associated plugin and the data was available in the hardwareinfo structure/map.

I want to use the same xacro file but in a regular lifecycle node. It seems that I can read and parse the file in the launch file with

    device_config = xacro.process_file(io_config_file_path)
    device_config_parsed = device_config.toprettyxml(indent='  ')

But there isn't really a way to load that into the parameters.

I have tried a bunch of different options and it blows up or nothing happens. Another option would be just to parse the file in the node with tinyxml2.

Any ideas?

Thanks

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1 Answer 1

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Have a look at the component parser used within the controller_manager of ros2_control. It should be possible to use that in your node.

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  • $\begingroup$ That seems to be the answer but I am getting an odd. "invalid URDF passed in to robot parser" error I checked the source and this seems to be related to general XML parsing. I have tried really basic valid XML and they all give the same error. I guess I will try a test with tinyXML2 and see what is going on. $\endgroup$
    – Seth
    Commented Feb 12 at 21:07
  • $\begingroup$ this seems to come directly from tinyXML2 here $\endgroup$
    – Christoph Froehlich
    Commented Feb 12 at 21:17
  • $\begingroup$ Yeah, I figured that one out. I was passing the path in, instead of the xml. man alive. Now I am getting a sigfault(-11) somewhere in the parse_control_resources_from_urdf because I am not catching any exceptions. $\endgroup$
    – Seth
    Commented Feb 13 at 18:53
  • $\begingroup$ I took the plugin tag out and that seems to be what caused the segfault. It is working now. Thaks $\endgroup$
    – Seth
    Commented Feb 13 at 19:16

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