xacro-rs

An XML preprocessor for xacro files to generate URDF files

Reference: http://wiki.ros.org/xacro

Installation

As a library

cargo add xacro-rs

As a command-line tool

cargo install xacro-rs

Usage

Command-line tool

Process a xacro file:

xacro-rs robot.xacro > robot.urdf

With arguments:

xacro-rs robot.xacro robot_name:=myrobot wheel_radius:=0.5

From stdin:

cat robot.xacro | xacro-rs - > robot.urdf

See xacro-rs --help for all options.

Library usage

See the examples/ directory for runnable examples including:

• Basic file processing
• Processing from stdin
• Using arguments and the builder API
• Custom extensions
• Generic XML macros (non-ROS usage)

API documentation: https://docs.rs/xacro-rs

Status

Core xacro functionality implemented:

• macro
• include
• insert_block
• property
• if
• unless
• load_yaml
• Basic Python expression evaluation (see limitations)
• Extensions: $(find), $(env), $(optenv), $(cwd)

Not implemented:

• element (dynamic XML generation)
• attribute (dynamic attributes)

See KNOWN_ISSUES.md for limitations and deviations from Python xacro.

No ROS dependencies required. Package resolution via RUST_XACRO_PACKAGE_MAP environment variable.