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gazebo sdf find csv file #22

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gazebo sdf find csv file #22

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18 changes: 14 additions & 4 deletions src/livox_points_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
#include <gazebo/transport/Node.hh>
#include "livox_laser_simulation/csv_reader.hpp"
#include "livox_laser_simulation/livox_ode_multiray_shape.h"
#include <sdf/sdf_config.h>

namespace gazebo {

Expand All @@ -39,12 +40,21 @@ void convertDataToRotateInfo(const std::vector<std::vector<double>> &datas, std:

void LivoxPointsPlugin::Load(gazebo::sensors::SensorPtr _parent, sdf::ElementPtr sdf) {
std::vector<std::vector<double>> datas;
std::string file_name = sdf->Get<std::string>("csv_file_name");
ROS_INFO_STREAM("load csv file name:" << file_name);
if (!CsvReader::ReadCsvFile(file_name, datas)) {
ROS_INFO_STREAM("cannot get csv file!" << file_name << "will return !");
std::string csv_file_name = sdf->Get<std::string>("csv_file_name");
{
ROS_INFO_STREAM("load csv file name:" << csv_file_name);
}
std::string resolved_csv_file_name = sdf::findFile(csv_file_name, true, true);
if (resolved_csv_file_name.empty())
{
ROS_INFO_STREAM("cannot resolve csv file!" << csv_file_name << "will return !");
return;
}
if (!CsvReader::ReadCsvFile(resolved_csv_file_name, datas)) {
ROS_INFO_STREAM("cannot get csv file!" << resolved_csv_file_name << "will return !");
return;
}

sdfPtr = sdf;
auto rayElem = sdfPtr->GetElement("ray");
auto scanElem = rayElem->GetElement("scan");
Expand Down