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ros2 / urdf

Repository for URDF parsing code
BSD 3-Clause "New" or "Revised" License
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Using .xacro in launch files #5

Closed ghost closed 6 years ago

ghost commented 6 years ago

Hello all

I wondered if it is possible to use .xacro files inside a ROS2 launchfile? In ROS, I use them a lot and it would be much work to transform them all to standard urdf. Also I wasn't sure where to open this issue - here or in the /launch repo.

Thank you (:

mikaelarguedas commented 6 years ago

the xacro package has not been ported to ROS 2 so far. So it is not possible to use it in launchfiles or directly.

Also I wasn't sure where to open this issue - here or in the /launch repo.

The recommended place to ask questions is http://answers.ros.org using the ros2 tag. For more details about how to ask question you can refer to the ROS support guidelines

@clalancette @sloretz would you be ok for adding here the same issue template as the other ros2 repositories to redirect users to ROS Answers for questions?

mikaelarguedas commented 6 years ago

it would be much work to transform them all to standard urdf.

@ToRaVe xacro is converting .xacro files into URDF. Would it be possible to just run xacro on your files and save + use the resulting URDFs with ROS 2?

ghost commented 6 years ago

Thanks for your quick answer. It is possible to convert the files, but it is much more convenient to work with xacro files. Have a nice day (:

mikaelarguedas commented 6 years ago

As xacro is not depending on many ROS 1 features it should be possible to use it in ROS 2 without much changes. It looks like some work in that direction has been done in https://github.com/ros/xacro/pull/154 and discussed at https://github.com/osrf/homebrew-simulation/issues/383 as well

clalancette commented 6 years ago

@clalancette @sloretz would you be ok for adding here the same issue template as the other ros2 repositories to redirect users to ROS Answers for questions?

Fine by me.

sloretz commented 6 years ago

@clalancette @sloretz would you be ok for adding here the same issue template as the other ros2 repositories to redirect users to ROS Answers for questions?

6 , I'll merge it right away.