Remove rospy usage (#129)

scripts/display_srdf

@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-
+#!/usr/bin/env python3
 from __future__ import print_function
 import sys
 import argparse
@@ -10,19 +9,14 @@ parser = argparse.ArgumentParser(usage="Load an SRDF file")
 parser.add_argument(
     "file",
     type=argparse.FileType("r"),
-    nargs="?",
-    default=None,
     help="File to load. Use - for stdin",
 )
 parser.add_argument(
     "-o", "--output", type=argparse.FileType("w"), default=None, help="Dump file to XML"
 )
 args = parser.parse_args()
 
-if args.file is None:
-    robot = SRDF.from_parameter_server()
-else:
-    robot = SRDF.from_xml_string(args.file.read())
+robot = SRDF.from_xml_string(args.file.read())
 
 print(robot)
 

srdfdom/srdf.py

@@ -236,19 +236,6 @@ def add_disable_collisions(self, col):
     def add_link_sphere_approximation(self, link):
         self.add_aggregate("link_sphere_approximation", link)
 
-    @classmethod
-    def from_parameter_server(cls, key="robot_description_semantic"):
-        """
-        Retrieve the robot semantic model on the parameter server
-        and parse it to create a SRDF robot structure.
-
-        Warning: this requires roscore to be running.
-        """
-        # Could move this into xml_reflection
-        import rospy
-
-        return cls.from_xml_string(rospy.get_param(key))
-
 
 xmlr.reflect(
     Robot,