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

[Adolfo Rodríguez Tsouroukdissian]

On Wed, May 26, 2010 at 8:32 PM, John Hsu <johnhsu at willowgarage.com> wrote:

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

Yes,  xacro:property works. For the record, a xacro:property cannot be
declared inside a xacro:macro.

Adolfo


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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