[ros-users] Using a xacro parameter value in xacro macros

[John Hsu]

seems xacro:parameter should be xacro:property, then things should work.
I'll update the wiki.
John

2010/5/26 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

> Update.
>
> The problem seems to be more general in that I am unable to use xacro:param
> at all, which makes me think that I might be using it the wrong way. This
> code also errors out :
>
> <?xml version="1.0"?>
>
> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
>        xmlns:sensor="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>        xmlns:controller="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>        xmlns:interface="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>        name="foo" >
>
>   <xacro:parameter name="the_param" value="/path/to/foo" />
>   <include filename="${the_param}" />
> </robot>
>
> Is there something obviously wrong here?. I tried grepping the ros codebase
> for xacro:param occurrences to compare against, but found none.
>
> Adolfo
>
> 2010/5/26 Adolfo Rodríguez Tsouroukdissian <dofo79 at gmail.com>
>
>  I'd like to ask whether using a xacro parameter value in xacro macros is
>> allowed, because it is not clear from the docs [
>> http://www.ros.org/wiki/xacro]. Consider a simplified version of my file,
>> which fails on ros-latest from binary packages:
>>
>> <xacro:parameter name="the_param" value="1" />
>>
>> <xacro:macro name="macro1" >
>>   <foo>${the_param}</foo>
>> </xacro:macro>
>>
>> <xacro:macro name="macro2" params="macro2_param" >
>>   <mechanicalReduction>${macro2_param}</mechanicalReduction>
>> </xacro:macro>
>>
>>
>> <xacro:macro1 />
>>   <!-- Fails -->
>> <xacro:macro2 macro2_param ="${the_param}" />  <!-- Fails -->
>>
>> The two above lines raise a XacroException that states " Property wasn't
>> defined: u'the_param' " when xacro is run. Is this expected behavior?.
>>
>> TIA,
>>
>> Adolfo
>>
>>
>> --
>> Adolfo Rodríguez Tsouroukdissian, Ph. D.
>>
>> Robotics engineer
>> PAL ROBOTICS S.L
>> http://www.pal-robotics.com
>> Tel. +34.93.414.53.47
>> Fax.+34.93.209.11.09
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