No version for distro humble showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro jazzy showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro kilted showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro rolling showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro ardent showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro bouncy showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro crystal showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro eloquent showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro dashing showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro galactic showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro iron showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro lunar showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro jade showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro indigo showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro hydro showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro kinetic showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro melodic showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro noetic showing foxy. Known supported distros are highlighted in the buttons above.

xacro_live repository

xacro_live

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/orise-robotics/xacro_live.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
xacro_live	0.1.1

README

xacro_live

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).

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

xacro_live repository

ROS Distrofoxy

Repository Summary

Packages

README

xacro_live

How it works

CONTRIBUTING

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