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to_urdf fun retrun a str, not a BufferedRandom #2957

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Jan 2, 2024
Merged

to_urdf fun retrun a str, not a BufferedRandom #2957

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7 changes: 4 additions & 3 deletions realsense2_description/launch/launch_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,13 @@ def to_urdf(xacro_path, parameters=None):
* xacro_path -- the path to the xacro file
* parameters -- to be used when xacro file is parsed.
"""
urdf_path = tempfile.TemporaryFile(prefix="%s_" % os.path.basename(xacro_path))
with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
urdf_path = xacro_file.name

# open and process file
doc = xacro.process_file(xacro_path, mappings=parameters)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
with open(urdf_path, 'w') as urdf_file:
urdf_file.write(doc.toprettyxml(indent=' '))

return urdf_path
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