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