URDF Link Port

Within a ROS Node GenericDomainModel, a URDF Link Port is represented by a GenericDomainModelPort with the following Attributes.

Attributes	Value	Description
Type	urdf_link
Attribute 1	arg / arg_1_hyphen / arg_2_hyphen / param / remap	Method used to map ROS Action names into ROS Node
Attribute 7	ros

A URDF Link Port allows a designer to connect a ROS Node Model with a Component (which may be the parent of the ROS Node Model) that contains a physical model (generally a CAD Model).

If the CyPhy Master Interpreter is run, then the associated Physical Model’s link name in the generated .urdf will be added to the parent ROS Node Model’s corresponding node element in the generated ROS .lunch file

The ROS mapping method is determined by Attribute 1’s Value:

arg or [empty]

<node name=... pkg=... type=...
  args="[GenericDomainModelPort name] [linked physical model's urdf link name] ..."
/>

Unless the [GenericDomainModelPort name] ends with an underscore - e.g. count_, then the [GenericDomainModelPort name] is ommitted.

<node name=... pkg=... type=...
  args="[action_name] ..."
/>

Note

ROS Node args passed in will be sorted by [GenericDomainModelPort name] in alphanumerical order.

---

arg_1_hypen

<node name=... pkg=... type=...
  args="-[GenericDomainModelPort name] [linked physical model's .urdf link name] ..."
/>

---

arg_2_hypen

<node name=... pkg=... type=...
  args="--[GenericDomainModelPort name] [linked physical model's .urdf link name] ..."
/>

---

param

<node name=... pkg=... type=... >
  <param name="[GenericDomainModelPort name]" value="[linked physical model's .urdf link name]" />
</node>

---

remap

<node name=... pkg=... type=... >
  <remap from="[GenericDomainModelPort name]" to="[linked physical model's .urdf link name]" />
</node>