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ros / xacro

Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.

Home Page:http://www.ros.org/wiki/xacro

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Xacro evaluating comments while running robot urdf

nksas opened this issue · comments

commented

I have been working on a particular robotic model/urdf, It was working fine so far.
Recently, after "sudo apt upgrade", my xacro package got updated with the latest changes.

Soon, I realize that now when i am trying to launch any urdf model that has some big comments in it's gazebo description file, It is throwing errors because somewhere the code is trying to evaluate those comments.

I thought of working out with the error and i figured out that after deleting those comments the model is able to spawn on gazebo/rviz.
So, I saw the latest commit of xacro git repository and figured that there is some minor bug in the latest code.

I am trying to fix that but also i am submitting this issue so that if anyone else figures that our , pls submit a PR.

Following is the error that I am getting
error

UPDATE: I came across previous issues in the discussion forum, where evaluation of comment was being discussed, I want to know that how to explicitly turn off the comment evaluation ?
" xacro:eval-comments:off" Where to put this comment ??

commented

Looks like the property name is not defined. You could check with very verbose mode, whether/where it gets defined:
xacro -vvv gps.xacro

commented

I want to know how to explicitly turn off the comment evaluation?

Using the latest version of xacro, i.e. 1.14.13 (Noetic) / 1.13.17 (Melodic), comment evaluation is turned off by default again.

commented

Looks like the property name is not defined. You could check with very verbose mode, whether/where it gets defined: xacro -vvv gps.xacro

I am getting this:
image

PS: The lines are commented and i am using correct version of Xacro.

commented

Please stop posting images - they are not searchable! Cut-and-paste your screen output instead.
Unfortunately, xacro (or the underlying xml parser) doesn't provide line numbers. So, are you sure you are looking at the correct line? Try to narrow down the error location and eventually provide a minimal failing example. Thanks.
By the way, what's the result of dpkg -l | grep xacro on your machine?

commented

Output of dpkg -l | grep xacro

ii ros-noetic-hector-sensors-description 0.5.2-1focal.20220122.022243 amd64 hector_sensors_description contains URDF xacro macros for sensors, so they are easily attachable to robot models and usable in gazebo.
ii ros-noetic-xacro 1.14.11-1focal.20220122.020912 amd64 Xacro (XML Macros) Xacro is an XML macro language.

I will try to follow up after narrowing down the problem and provide minimal failing example.

commented

ii ros-noetic-xacro 1.14.11-1focal.20220122.020912 amd64 Xacro

As expected: you are using an old version of xacro. Please update to 1.14.13 as pointed out in #312 (comment).

commented

Thank you
I think i missed some latest upgrades on packages.
I just upgraded my xacro and it worked.