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How can I combine two xacros with a common root?

urdf
xacro

asked 2013-08-02 04:33:01 -0500

nemesis

237 ●39 ●45 ●57

updated 2013-11-18 19:32:50 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

I have two XACROs for two robotic arms and I want them in the same XACRO, so that the URDF generated from that XACRO contains both those arms. The issue is that both the arms' XACROs start from a "Root" and it's not allowing me to do that.

So how can I add the two with both having the same "Root" for reference?

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answered 2013-08-02 08:00:42 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

The short answer is that you can't. You can't have two links with the same name.

Check out This bit of tutorial

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Thanks @David Lu. I did see that. And have already started modifying the files accordingly. Only issue is that these files rely on lots of "Properties" and trying to duplicate the information is a bit tedious. I keep getting errors. Working on that. Thanks again.

nemesis ( 2013-08-02 08:12:14 -0500 )edit

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Asked: 2013-08-02 04:33:01 -0500

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