xacro

A xml preprocessor for xacro files to generate URDF files

WIP

Placeholder for the future xacro peprocessing tool. Reference: https://github.com/ros/xacro/wiki

TODO

The following functionality shall be implemented:

• macro
• include
• insert_block
• property
• element
• if
• unless
• loop

These seem like the core functionalities required for proper xacro file handling.

The following might be implemented:

• load_yaml, unsure if yaml & xacro split is the right way to do things. Why not have a xacro with the properties?
• eval-comments, not sure how useful this will be vs the amount of effort required to implement this.

Fundamentally these feel like scope creep or nice-to-haves

The following shall not be implemented:

• Python-based evaluation
• Rospack-based evaluation
• Windows compatibility

If needed, the following alternative can be developed

• Rust-based evaluation / mathematical expressions, to match the python evaluation

Because this package is meant to be as dependency free as possible, so no python or ros dependencies.