xacro_live repository

Repository Summary

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


Name Version
xacro_live 0.1.1




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"


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).


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.