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calling xacro:macro from within xacro:macro

asked 2012-05-11 11:11:56 -0500

dsolomon gravatar image

updated 2012-05-11 11:24:47 -0500

can I include and call an xacro:macro from within an xacro:macro?

alternatively, can I pass a variable to an xacro if it is not an xacro:macro?

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For question2, if it is not a xacro:macro, what is it?

David Lu gravatar imageDavid Lu ( 2012-05-11 12:08:29 -0500 )edit

xacro:macro refers to an xacro that contains a macro. In my answer below, I include an xacro file "irb_5400_macro.xacro" that contains the macro "irb_5400". Then I call that xacro:macro from THIS file. An xacro file can also just contain a set of commands, or even constants (like an include file).

dsolomon gravatar imagedsolomon ( 2012-12-21 05:58:00 -0500 )edit

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answered 2012-05-11 12:07:30 -0500

David Lu gravatar image

For question 1, yes you can. Recursive macros are allowed.

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answered 2012-05-11 14:31:04 -0500

dsolomon gravatar image

To answer my own question #1 - Yes, macros can be recursive. My error was that I put the includes for the referenced xacro files under the xacro:macro name="..." line.

The correct way is:

<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <include filename="$(find abb_common)/urdf/irb_5400_macro.xacro" /> 
  <xacro:macro name="generate_robot" params="robot_name" >
    <xacro:irb_5400 prefix="${robot_name}"/>

Make sure all the includes are above the macro declaration!

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Asked: 2012-05-11 11:11:56 -0500

Seen: 872 times

Last updated: May 11 '12