XacroをUrdfに変換するシェルスクリプト

/usr/local/bin/xacro2urdf

#!/bin/bash

if [ "$#" -eq 1 ]; then
  filename="$1"
  extension="${filename##*.}"
  if [[ ${extension} == "xacro" ]]; then
    robot=${filename%.*}
    echo rosrun xacro xacro -o ${robot}.urdf ${robot}.xacro
    rosrun xacro xacro -o ${robot}.urdf ${robot}.xacro
  else
    echo "Usage: xacro2urdf <xacro_file>"
  fi
else
  echo "Usage: xacro2urdf <xacro_file>"
fi