#NEWLINE# @ classmethod #NEWLINE# def from_parameter_server( cls , key = 'robot_description' ) : #NEWLINE# #INDENT# '\n\t\tRetrieve the robot model on the parameter server\n\t\tand parse it to create a URDF robot structure.\n\n\t\tWarning: this requires roscore to be running.\n\t\t' #NEWLINE# import rospy #NEWLINE# return cls . from_xml_string ( rospy . get_param ( key ) )