Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Specify xacro properties in launch file

asked 2013-03-28 02:45:49 -0600

prasanna.kumar

1363 ●30 ●40 ●61

updated 2014-04-20 14:09:31 -0600

ngrennan
1 ●1 ●1

Is there a way to specify the values for <xacro:property> tags in launch file ? I want to use a single *.urdf.xacro file using different values for the same property. Is it possible ?

For eg.: In door.urdf.xacro

<xacro:property name = room value = "workroom" />
<link name = "${room}_door">
....

I would like to specify the value "workroom" for the property room in the launch file so that I can use the same *.urdf.xacro file for all the rooms in my gazebo world (kitchen, bedroom etc..). I know I can use TinyXML but it will be easier and simpler if I can specify the properties in launch file. Or is there any other way out ?

Thanks!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-12-04 04:59:45 -0600

Fabien R

90 ●11 ●16 ●20

You have to use a macro. You may use something like this:

<xacro:macro name="whatever" params="room">
<link name = "${room}_door">
 ...
</link>
</xacro:macro>
<xacro:whatever room="workroom"/>

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2013-03-28 02:45:49 -0600

Seen: 1,228 times

Last updated: Dec 04 '13

Specify xacro properties in launch file edit

1 Answer

Question Tools

Stats

Related questions

Specify xacro properties in launch file