xacro (XML macro) is a language for writing XML macros. It is designed to facilitate reuse of XML code. It is useful for reducing the size and complexity of urdf files.
xacro compiler is distributed as a ROS package which can be found at http://wiki.ros.org/xacro. The compiler takes in
.xacro files and spits out
The xacro format allows you to use certain
rospack commands inside
.xacro files. The commands are used in the following format:
Two commonly used commands are
<foo value="$(find xacro)" /> <foo value="$(arg myvar)" />