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In an xml launch file I was able to process my xacro via

<node pkg="robot_state_publisher" exec="robot_state_publisher"
        <param name='robot_description' value="$(command 'xacro $(find-pkg-share myrobot_description)/urdf/robot.urdf.xacro')"/>
</node>

Note that I added the following line to the data_files member in setup.py

(os.path.join('share', package_name, 'urdf'), glob(os.path.join('urdf', '*[urdf][xacro]*')))

This was a slightly different approach than stated in the urdf tutorial and allowed my description files to be copied to the shared directory within a urdf folder.

In an xml launch file I was able to process my xacro via

<node pkg="robot_state_publisher" exec="robot_state_publisher"
        <param name='robot_description' type="str" value="$(command 'xacro $(find-pkg-share myrobot_description)/urdf/robot.urdf.xacro')"/>
</node>

Note that I added the following line to the data_files member in setup.py

(os.path.join('share', package_name, 'urdf'), glob(os.path.join('urdf', '*[urdf][xacro]*')))

This was a slightly different approach than stated in the urdf tutorial and allowed my description files to be copied to the shared directory within a urdf folder.