params && workaround for empty texture urdf elems

Author: alaurenzi

server/src/xbot2_gui_server/joint_states.py

@@ -104,6 +104,7 @@ def on_aux_recv(self, msg: CustomState, aux: list):
     async def get_urdf_handler(self, request: web.Request):
         print('retrieving robot description..')
         urdf = rospy.get_param('xbotcore/robot_description', default='')
+        urdf = urdf.replace('<texture/>', '')
         return web.Response(text=json.dumps({'urdf': urdf}))
 
 
@@ -152,14 +153,14 @@ async def get_joint_info_handler(self, request: web.Request):
         # get urdf
         print('retrieving robot description..')
         urdf = rospy.get_param('xbotcore/robot_description', default='')
+        urdf = urdf.replace('<texture/>', '')
         if len(urdf) == 0:
             joint_info['message'] = 'unable to get robot description'
             joint_info['success'] = False
             return web.Response(text=json.dumps(joint_info))
 
         # parse urdf
         print('parsing urdf..')
-        urdf = urdf.replace('<texture/>', '')
         model = urdf_parser.Robot.from_xml_string(urdf)
 
         # read joint limits from urdf

server/src/xbot2_gui_server/main.py

@@ -151,6 +151,14 @@ async def load_extensions():
         except BaseException as e:
             print('Exception ', type(e), e)
 
+        try:
+            from .parameters import ParameterHandler
+            ext = ParameterHandler(srv, cfg.get('parameters', {}))
+            extensions.append(ext)
+            print(ext)
+        except BaseException as e:
+            print('Exception ', type(e), e)
+
         srv.extensions = extensions
 
         print('load extensions completed', extensions)

server/src/xbot2_gui_server/visual.py

@@ -47,6 +47,7 @@ async def visual_get_mesh_entities(self, request):
 
         # parse urdf
         urdf = rospy.get_param('xbotcore/robot_description')
+        urdf = urdf.replace('<texture/>', '')
         model = urdf_parser.Robot.from_xml_string(urdf)
 
         # get list of visuals
@@ -96,6 +97,7 @@ async def visual_get_mesh_tfs(self, request: web.Request):
 
         # parse urdf
         urdf = rospy.get_param('xbotcore/robot_description')
+        urdf = urdf.replace('<texture/>', '')
         model = urdf_parser.Robot.from_xml_string(urdf)
         root = 'base_link'