hector_xacro_tools

[ritalaezza]

Hej,

I want to setup a YuMi in our lab at Chalmers, and I am looking to your repo as a starting point.

What exactly is the purpose of hector_xacro_tools, in yumi/yumi_description/urdf/Grippers/yumi_servo_gripper.xacro? Why isn't it included in dependencies?

[diogoalmeida]

Hi Rita, You should be able to install the missing package with ```bash sudo apt install ros-melodic-hector-xacro-tools ``` Make sure to replace `melodic` with the correct ROS version you're using. If I'm not wrong, this package has utilities that help in parsing a xacro file into a urdf file that ROS can use. The reason for using xacro is that it facilitates building robot descriptions in a more modular way. I am not sure why it isn't listed as a dependency. It might be that it should come with some other dependency, and is omitted due to that, or it might be that we should list it in the package manifesto, but I can't know for sure without being at my computer. Hope this helps!

…

________________________________ From: Rita Laezza <[email protected]> Sent: Friday, July 31, 2020 3:10:19 PM To: kth-ros-pkg/yumi <[email protected]> Cc: Subscribed <[email protected]> Subject: [kth-ros-pkg/yumi] hector_xacro_tools (#57) Hej, I want to setup a YuMi in our lab at Chalmers, and I am looking to your repo as a starting point. What exactly is the purpose of hector_xacro_tools, in yumi/yumi_description/urdf/Grippers/yumi_servo_gripper.xacro<https://github.com/kth-ros-pkg/yumi/blob/egm_modifications/yumi_description/urdf/Grippers/yumi_servo_gripper.xacro>? Why isn't it included in dependencies? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<#57>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AALOBTN2XW6VJDZG4QJIBJTR6LGEXANCNFSM4PQKGZIQ>.

[ritalaezza]

Hi Diogo,

Thank you for your fast reply :)

I am using ROS Melodic as well, and have installed the package. If you look at the original repo: hector_xacro_tools, perhaps you can understand which components are used. It don't think it provides any additional xacro parsing functionalities, but I may be mistaken.

Best,
Rita