Ask Your Question

Using xacro package in ROS 2

asked 2020-06-08 10:58:50 -0600

max_a gravatar image

updated 2020-06-08 12:41:59 -0600

I was using the xacro package in ROS Melodic to convert .xacro's to .urdf's, but I need to use python 3 now and my ROS Melodic is using python 2. I installed ROS 2 Eloquent onto my Windows device, but ROS 2 does not seem to have the xacro package installed. Could I get some help as to how to use xacro in ROS 2?

edit retag flag offensive close merge delete


ROS 2 Melodic

just making sure: Melodic is a ROS 1 release name.

gvdhoorn gravatar image gvdhoorn  ( 2020-06-08 12:21:02 -0600 )edit

Fixed, thanks!

max_a gravatar image max_a  ( 2020-06-08 12:42:10 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2020-06-08 12:55:17 -0600

tfoote gravatar image

Xacro is released for all recent distros up to and including eloquent.

You didn't clarify what installation method you used on Windows, but I'll assume that you didn't get one that included xacro, ROS 2 is a collection of packages and depending on what installation method you select you get different packages. And not all packages are bundled into the binary packages we built. The quickest way to add xacro is to put it into your source workspace and build it with your packages.

It's not yet released for Foxy If you'd like to see it released there please reach out to the maintainers probably the best way is to request a release on the issue tracker on it's repository:

If you use it from source and validate that it works, and or make any necessary patches it will help make it easier for the maintainers to respond quickly.

edit flag offensive delete link more


I installed ROS 2 just through this link:, do you know which installation method includes xacro?

max_a gravatar image max_a  ( 2020-06-08 15:45:42 -0600 )edit

From looking quickly I don't think xacro is currently in the pre-packaged binaries for Windows. I opened a ticket to improve the docuementation here:

tfoote gravatar image tfoote  ( 2020-06-08 16:55:26 -0600 )edit

As a follow-up, we've documented that fat binary installations only contain a subset of packages ( With this installation method, you should build packages that are not included, like xacro, from source.

jacobperron gravatar image jacobperron  ( 2020-06-29 15:31:08 -0600 )edit

For the record: xacro has been released for foxy by now.

Timple86 gravatar image Timple86  ( 2021-05-07 00:44:28 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2020-06-08 10:56:54 -0600

Seen: 2,321 times

Last updated: Jun 08 '20