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xacro_live package from xacro_live repo

xacro_live

Package Summary

Tags No category tags.
Version 0.1.1
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orise-robotics/xacro_live.git
VCS Type git
VCS Version main
Last Updated 2021-03-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tool to update the robot_description dinamically from updates on a target xacro file

Additional Links

No additional links.

Maintainers

  • Mateus Amarante
  • Ivan Tarifa
  • Caio Amaral

Authors

  • Mateus Amarante

xacro_live

build-test-badge

Tool to update the robot_description dynamically from updates on a target xacro file.

How it works

To start tracking a xacro file and its children, simply run:

ros2 run xacro_live xacro_live path/to/target.xacro

Then, whenever you modify any of the files of the urdf tree, a request to change the robot_description param is sent to robot_state_publisher node.

IMPORTANT NOTE: To track the files in the source folder, you must run colcon build with the --symlink-install flag, otherwise it will track the files installed.

The package also provides the helper launch file xacro_live_view.launch:

ros2 launch xacro_live xacro_live_view.launch.py xacro_file:="path/to/target.xacro"

xacro_live_view_demo

It runs xacro_live, robot_state_publisher, joint_state_publisher_gui, and rviz2, so the user can see the updates happening while editing the robot description files (it is up to the user to open the xacro files with its favourite editor).

CHANGELOG

Changelog for package xacro_live

0.1.1 (2021-03-24)

  • Comment exit-code check test (temporary fix to error in buildfarm)

0.1.0 (2021-03-07)

  • xacro_live node: a node that watches changes on a targe xacro file and update the robot_description of robot_state_publisher node
  • xacro_live_view_node: launch xacro_live, robot_state_publisher, joint_state_publisher_gui, and rviz for a target xacro file and rviz config
  • Contributors: Mateus Amarante Ara

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Messages

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged xacro_live at answers.ros.org

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