Leading double underscores in xacro:property name are no longer considered valid
danielcranston opened this issue · comments
Using Melodic.
Steps to reproduce:
- Checkout https://github.com/ros-industrial/universal_robot/tree/melodic-devel into a workspace
- Source the workspace
- Run the following:
xacro `rospack find ur_e_description`/urdf/ur5e_robot.urdf.xacro
When using ros-melodic-xacro = 1.13.8-1bionic.20200828.181628, this works fine. However, after upgrading to the newest version (1.13.13-2bionic.20210921.204552), I get this:
$ xacro `rospack find ur_e_description`/urdf/ur5e_robot.urdf.xacro
Use of invalid name(s): __kinematics
when evaluating expression '__kinematics['shoulder']['roll']'
when instantiating macro: ur5e_robot (/home/daniel/ws/src/universal_robot/ur_e_description/urdf/ur5e.urdf.xacro)
in file: /home/daniel/ws/src/universal_robot/ur_e_description/urdf/ur5e_robot.urdf.xacro
After renaming the property in the offending urdf.xacro file from __kinematics to kinematics, the problem disappears.
My conclusion is that some version after 1.13.8-1bionic.20200828.181628 breaks backwards compatibility wrt double underscores in xacro:property names. Is this a bug, or an intended change?
Yes, double underscores in property names are no longer allowed for security reasons. See the CHANGELOG.
The main UR repository fixed its URDFs appropriately: UniversalRobots/Universal_Robots_ROS2_Driver#166.
Looks like the ROS Industrial repo is still missing these updates.