How to refer to propeties using macro prefixes?
I have properties of the form:
<xacro:property name="x_origin" value=".."/>
<xacro:property name="y_origin" value=".."/>
<xacro:property name="z_origin" value=".."/>
and I want to achieve something among these lines:
<xacro:macro name="make_joint" params="prefix">
<joint name="${prefix}_joint" type="revolute">
<origin rpy="0 0 0" xyz="${${prefix}_origin}}"/>
<parent link="base_link"/>
<child link="${prefix}_link"/>
<axis xyz="1 0 0"/>
<limit effort="40" lower="0" upper="280" velocity="10.0"/>
</joint>
</xacro:macro>
Is there some way to acieve this ${} nesting in xacro ?
I was thinking about the same a few days ago, i tried it as well and hoped it would work out, maybe we get an answer for a workaround or s.th.