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xacro command not found

asked 2018-11-29 22:56:15 -0500

mewescott gravatar image

updated 2018-11-30 12:55:14 -0500

gvdhoorn gravatar image

I am trying to run a xacro command to generate the latest baxter.srdf file to use with Moveit config. I found the command in a readme file in the baxter_moveit_config folder. It has been modified to give the paths to the files since it was having trouble finding them:

xacro --inorder ~/ros_ws/src/moveit_robots/baxter/baxter_moveit_config/config/baxter.srdf.xacro left_electric_gripper:=true right_electric_gripper:=true left_tip_name:=left_gripper right_tip_name:=right_gripper >> ~/ros_ws/src/moveit_robots/baxter/baxter_moveit_config/config/baxter.srdf

I keep getting:

xacro:  command not found

I have sourced everything properly:

source /opt/ros/indigo/setup.bash

I even ran a catkin_make and tried it again. When I run rospack find xacro it returns the location of it. I am running it on Ubuntu 14.04 with Ros Indigo.

printenv | grep ROS output:

ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/home/baxter/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_DISTRO=indigo
ROS_ETC_DIR=/opt/ros/indigo/etc/ros

Any suggestions?

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How have you installed ROS? The xacro binary should be located at /opt/ros/<version>/bin/xacro You can install it manually with sudo apt-get install ros-<version>-xacro

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-30 01:59:33 -0500 )edit

It is installed and I have ran it many times. I can try manually installing the xacro package again to see if that fixes it though. Here is were rospack find says it is: /opt/ros/indigo/share/xacro

mewescott gravatar imagemewescott ( 2018-11-30 06:01:26 -0500 )edit

Can you add the output of the linux command printenv | grep ROS to your question, so we can check your environment.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-30 06:05:03 -0500 )edit

I ran the install and the rospack find came back with the same location. I get the same command not found message when I run the xacro command.

mewescott gravatar imagemewescott ( 2018-11-30 06:06:09 -0500 )edit

printenv | grep ROS output: ROS_ROOT=/opt/ros/indigo/share/ros ROS_PACKAGE_PATH=/home/baxter/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks ROS_MASTER_URI=http://localhost:11311 ROS_DISTRO=indigo ROS_ETC_DIR=/opt/ros/indigo/etc/ros

mewescott gravatar imagemewescott ( 2018-11-30 06:07:41 -0500 )edit

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answered 2018-11-30 13:04:29 -0500

gvdhoorn gravatar image

I don't believe xacro is put on the regular PATH on Trusty/Indigo. That is only in Kinetic (and Jade probably). You should probably use rosrun xacro xacro ...


Note: the readme you refer to (probably this one) is the readme for Kinetic. The Indigo one (this one) does not contain any instructions to generate an .srdf.

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If that is the case then I somehow loaded the incorrect version. Do I need to switch it? I want to do a project with Flexbe and I need to run MoveIt configuration wizard to setup the points. Can I run the Kinetic package on an Indigo ROS setup?

mewescott gravatar imagemewescott ( 2018-12-01 19:52:37 -0500 )edit

You'd have to ask the maintainers of that package whether that is possible.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-02 04:46:28 -0500 )edit

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Asked: 2018-11-29 22:56:15 -0500

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Last updated: Nov 30 '18