Understanding Xacro Misunderstandings
Nicholas Albergo,Vivek Rathi,John-Paul Ore,Nicholas Albergo,Vivek Rathi,John-Paul Ore
The Xacro XML macro language can be used to augment the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, mem-bers of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To bette...
