dbg #52

	name: URDF transform
	on:
	push:
	branches:
	- '**'
	pull_request:
	branches:
	- '**'

	jobs:
	build:
	runs-on: ubuntu-latest
	container:
	image: ros:humble-ros-base
	options: --workdir /github/home/ws
	steps:
	- name: Create working directory
	run: mkdir -p /github/home/ws/src

	- name: Check out repository
	uses: actions/checkout@v4
	with:
	path: src/kuka_robot_descriptions

	- name: Install colcon, lxml and blender python module dependencies
	run: \|
	apt update
	apt install -y ros-humble-xacro python3-pip libxxf86vm-dev libxfixes-dev libxi-dev libxrandr-dev libxinerama-dev libegl-dev libxkbcommon-dev
	python3 -m pip install lxml bpy mathutils

	- name: Build support packages
	run: \|
	source /opt/ros/humble/setup.bash
	colcon build --packages-ignore kuka_mock_hardware_interface kuka_kr_moveit_config kuka_lbr_iisy_moveit_config kuka_lbr_iiwa_moveit_config
	shell: bash

	- name: List .urdf.xacro files and generate .urdf-s
	run: \|
	source /opt/ros/humble/setup.bash
	source install/setup.bash
	mkdir -p urdf_out
	files=$(find src -name "*.urdf.xacro")
	for file in $files
	do
	filename=$(basename -- "$file")
	filename="${filename%.*}"
	xacro $file use_fake_hardware:=true > urdf_out/${filename}
	done
	shell: bash

	- name: Generate URDF without mesh files and ros2_control tag
	run: \|
	for file in urdf_out/*.urdf; do
	python3 src/kuka_robot_descriptions/.github/scripts/modify_urdf.py "$file"
	done

	- name: Upload URDF output directory as artifact
	uses: actions/upload-artifact@v4
	with:
	name: urdf-artifact
	path: urdf_out

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