Change output file of urdf_to_graphiz (#144)

* Add extra argument for output file * Add deprecated warning * Add usage string Co-authored-by: hwied <[email protected]>
ros · Oct 30, 2020 · afd0ae2 · afd0ae2
1 parent 6faba17
commit afd0ae2
Showing 1 changed file with 13 additions and 2 deletions.
diff --git a/urdf_parser/src/urdf_to_graphiz.cpp b/urdf_parser/src/urdf_to_graphiz.cpp
@@ -85,10 +85,18 @@ void printTree(LinkConstSharedPtr link, string file)
 
 int main(int argc, char** argv)
 {
-  if (argc != 2){
-    std::cerr << "Usage: urdf_to_graphiz input.xml" << std::endl;
+  if (argc < 2 || argc > 3) {
+    std::cerr << "Usage: urdf_to_graphiz input.xml [OUTPUT]"
+              << "  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD"
+              << "  or OUTPUT.gv & OUTPUT.pdf." << std::endl;
     return -1;
   }
+  if (argc != 3) {
+    std::cerr << "WARNING: OUTPUT not given. This type of usage is deprecated!"
+              << "Usage: urdf_to_graphiz input.xml [OUTPUT]"
+              << "  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD"
+              << "  or OUTPUT.gv & OUTPUT.pdf." << std::endl;
+  }
 
   // get the entire file
   std::string xml_string;
@@ -106,7 +114,10 @@ int main(int argc, char** argv)
     std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
     return -1;
   }
+
   string output = robot->getName();
+  if (argc == 3)
+    output = argv[2];
 
   // print entire tree to file
   printTree(robot->getRoot(), output+".gv");