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

[John Hsu]

Hi Adolfo,
I've updated to wiki to reflect your comment.  thank you.
John

2010/5/27 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

>
>
> 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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>>>
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