For example: New in JadeComments in front of macros will be removed during processing. URDF . By recursively calling a macro, it is also possible to unroll a loop and generate multiple similar XML snippets for a list of items: While in previous versions, xacro tags without the namespace prefix were accepted, this sloppy syntax is strongly discouraged as it prevents the use of those tags in the final XML. The list of parameters should be whitespace separated. What is this fallacy: Perfection is impossible, therefore imperfection should be overlooked. pocketsphinx indigo acoustic model missing parameter, Creative Commons Attribution Share Alike 3.0. The double-starred version ("content", "anothercontent") allows to insert an arbitrary number of elements that are passed within elements subsequently available ("container", "another" respectively in the example above). Why does the USA not have a constitutional court. Put simply, this flag is used to trigger Jade-enabled xacro processing on Indigo. If the xacro with a specified name is not found, it will not be expanded and will NOT generate an error. Penrose diagram of hypothetical astrophysical white hole. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. Thus, later property or macro definitions will override previous ones. Yes, that is strange. "Could not find parameter robot_description_semantic" URDF ROS . How to smoothen the round border of a created buffer to make it look more natural? There is 1 other project in the npm registry using xacro-parser. Properties are named values that can be inserted anywhere into the XML document. This is a much more intuitive evaluation process that allows for some nice new features as well: Inclusion of files can be postponed or completely suppressed if the
tag is placed within a macro or within conditional tags respectively. I don't believe xacro is put on the regular PATH on Trusty/Indigo. When would I give a checkpoint to my D&D party that they can return to if they die? Find centralized, trusted content and collaborate around the technologies you use most. Define macros with the macro tag, and specify the macro name and the list of parameters. ROS_MASTER_URI=http://localhost:11311 You can easily check this like so: If there are any differences shown, you should check and adapt your xacro file. .github cmake scripts src/ xacro test .gitignore .pre-commit-config.yaml Why is apparent power not measured in Watts? Can you add the output of the linux command printenv | grep ROS to your question, so we can check your environment. I am running it on Ubuntu 14.04 with Ros Indigo. Do I need to switch it? See here, for an example showing the use of the advanced features (python evaluation, yaml integration) introduced in Jade. Since ROS Jade, xacro provides the command-line option --inorder, that allows to process the whole document in read order. This allows for more complex arithmetic expressions. I can try manually installing the xacro package again to see if that fixes it though. Privacy Policy. The package is called "cronie-anacron". $ roslaunch my. Is Energy "equal" to the curvature of Space-Time? Assigning default values to shell variables with a single command in bash, Command not found error in Bash variable assignment. How have you installed ROS? It handles the following kinds of settings: * Keyboard: layout, accessibility options, shortcuts, media keys * Clipboard management * Theming: background, icons, GTK+ applications * Cleanup of . Check out the ROS 2 Documentation. I am glad that you made it work. The way that the lat_label parameters are implemented appears to match up with the examples in the Xacro documentaion, so I'm not sure what the issue is. printenv | grep ROS output: Please help me out. Installing ros-indigo-desktop should have installed xacro as well. Gonna leave this up for any other confused soul, even though I still don't know what caused this issue. You can usually do this by doing crontab -e logged in as the actual users. Here's an example of using a property block: Within dollared-braces (${}), you can also write simple math expressions. If you want a literal "${", you should escape it as "$${". Connect and share knowledge within a single location that is structured and easy to search. Installing ros-indigo-desktop should have installed xacro as well. Include filenames can be specified via properties or macro parameters. Consider the following Xacro XML snippet: If we also define macros for pr2_upperarm and pr2_forearm, then this snippet could expand to describe an entire robotic arm. You'd have to ask the maintainers of that package whether that is possible. Can you provide some more information on how you installed ROS? Note: When including files within a macro, not the macro-defining but the macro-calling file is the one that processes the include! The repository configuration file has got a specific syntax, and it should end with a .repo extension in the /etc/yum.repos.d/ directory. How many transistors at minimum do you need to build a general-purpose computer? Appropriate translation of "puer territus pedes nudos aspicit"? Xacro is an XML macro language. As a native speaker why is this usage of I've so awkward? When I run rospack find xacro it returns the location of it. New in Indigo Macro parameters can have default values: If the defaults contain evaluation expressions, they will be evaluated at instantiation time. The cron job does nothing else than to start myScript.sh at certain times. explaining the macro). * * * * * /home/path1/path2/myScript.sh >>/home/path1/path2/Logs/output.txt 2>&1. not visible outside. I get the same command not found message when I run the xacro command. I can't understand the relation between Solr and Cron job. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. ros / noetic-devel 11 branches 76 tags Code 526 commits Failed to load latest commit information. Xacro is an Xml macro that introduce the use of macros in an urdf file. This results in files with a .urdf extension. Then remove the original macro, leaving just its contents repeated. Currently, basic arithmetic and variable substitution is supported. Parameterized Macro You can also parameterize macros so that they don't generate the same exact text every time. wolfi@amiga:~> anacron If 'anacron' is not a typo you can use command-not-found to lookup the package that contains it, like this: cnf anacron wolfi@amiga:~> cnf anacron The program 'anacron' can be found in the following package: * cronie-anacron [ path: /usr/sbin/anacron, repository: zypp (openSUSE-13.2 . Here's an example: Since ROS Jade, Xacro employs python to evaluate expressions enclosed in dollared-braces, ${}. By changing properties at the global scope, the instantiation of a macro can yield different results if these properties are used in the macro. Modern wiki: https://github.com/ros/xacro/wiki. See for example, this tutorial for how xacro is used to simplify urdf files. This example expands to the following: Multiple block parameters will be processed in the specified order: Macros may contain other macros. Since Jade, this syntax is deprecated and you should update your files accordingly. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. ROS_ETC_DIR=/opt/ros/indigo/etc/ros. while this works (roslaunch can work with (absolute) paths), it's typically better to use the variant, as that will work from any directory (provided PKG is on the ROS_PACKAGE_PATH). So, the error message has to do with the script and not with the cron job. The example declares a macro "pr2_caster", which takes two parameters: suffix and origin. Xacro is an XML macro language. Using "rosrun xacro xacro" finds this one in both source and install. DebianUbuntu Linux "Bash: command not found" 29004. I've run the cron job command directly instead of creating/editing the cron job. The following snippet shows how to use xacro during a package's make call: New in Jade: While this cmake code provides full control over the target name and build order, there is a conveniency macro too: If you want the generated files to have a .urdf extension it is possible to provide input files terminating with .urdf.xacro, the .xacro suffix will be removed by the CMake function. What might be causing the problem? To avoid name clashes between properties and macros of various included files, you can specify a namespace for the included file - providing the attribute ns: Access to namespaced macros and properties is achieved by prepending the namespace, separated by a dot: New in Jade Properties can be dictionaries or lists too - manually declared with python syntax, like so: Note, the evaluation brackets ${} distinguishing evaluation from plain text definition. Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content. I found the command in a readme file in the baxter_moveit_config folder. The following script will update your files for you: To suppress the legacy interpretation of sloppy xacro tags and allow their usage in the target XML, you can use the command line option --xacro-ns. So we need to convert xacro into urdf first, . How do I set a variable to the output of a command in Bash? See Local properties. The xacro binary should be located at /opt/ros//bin/xacro You can install it manually with sudo apt-get install ros--xacro, It is installed and I have ran it many times. Xacro syntax 3.1.1. i am trying to launch a .launch file to display a urdf model in rviz,but facing this problem after i cd into the launch folder and run roslaunch display.launch, i cd into the launch folder and run roslaunch display.launch. Why does the distance from light to subject affect exposure (inverse square law) while from subject to lens does not? redis-cli: command not found . By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. How do I list all cron jobs for all users? rev2022.12.9.43105. Unlike urdf, there isn't check_xacro command to check whether xacro file is correctly written. This is useful for things like configurable robots or loading different Gazebo plugins. Ready to optimize your JavaScript with Rust? The outer macro will be expanded first, and then the inner macro will be expanded. Utility for parsing and converting ROS Xacro files in Javascript.. Latest version: 0.3.8, last published: 7 months ago. For example, when I launch the following roslaunch, I found the warning. New in JadeProperties and macros defined within a macro are local to this macro, i.e. Not the answer you're looking for? ROS_PACKAGE_PATH=/home/baxter/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide, I've edited the question with myScript.sh, can I know how to over come this! Optional Parameters from .launch to .xarco, Xacro:macro passing argument as string with whitespaces, How to add resource file to catkin_ws using Qt5 & CMake. I am trying to run a xacro command to generate the latest baxter.srdf file to use with Moveit config. I think more about a badly-located wildcard. This indicates that origin is a block parameter instead of a simple text parameter. redis redis-cli redis-cliredis-cli: command not found. The following example shows how to declare and use a property: The two properties are inserted into the geometry expression by placing the names inside dollared-braces (${}). xacro: command not found I have sourced everything properly: source /opt/ros/indigo/setup.bash I even ran a catkin_make and tried it again. It allow the use of variables, math and macros. How do I parse command line arguments in Bash? // It is just taking some folder names and throwing errors bash: apache-solr-1.4.2.zip: command not found bash: apache-solr-1.4.zip: command not found bash: someFolder.zip: command not found bash: someFolder2.zip: command not found bash: someFolder3.zip: command not found myScript.sh contains: echo "this is my script" before usage. Functions and constants from the python math module (e.g. They are considered to be related to the macro (e.g. Can I run the Kinetic package on an Indigo ROS setup? The error messages is from the shell - they're generated when you're just pasting the line meant for the cron configuration file into the terminal. Can you provide some more information on how you installed ROS? Please start posting anonymously - your entry will be published after you log in or create a new account. It has been modified to give the paths to the files since it was having trouble finding them: I even ran a catkin_make and tried it again. MoveIt! ls "command not found" 2. Hello, I am trying to get the simulation of this 'Curio' robot up and running (on ROS Melodic & Ubuntu 18.04): I followed the installation instructions and it builds fine. Gets installed to the lib directory for the package. Which tutorial (if any) did you follow? The xacro property loaded from a YAML file is treated as dictionary. How to reload .bash_profile from the command line. Sometime, creating a " minimally reproducible example" helps to filter the issue, as you did. Look ahead to the use of pr2_caster. - Here's my MWE: I'm succefully loading a .xacro file and seeing it in Rviz by launching ModuleNotFoundError: No module named ' xacro ' Hi, My Python program is throwing following error: ModuleNotFoundError: No module named ' xacro ' How to remove the ModuleNotFoundError: No module named ' xacro '. xacro: in-order processing became default in ROS MeLodic. Setup cron job to execute python script inside the bash sh file. If you want to keep a comment in the final document, separate it with an empty line from the macro. . /opt/ros/indigo/share/xacro. To use them, the --inorder flag is required. This will launch $EDITOR and let you edit the current cron file. The four most common reasons why you may see the "command not found" message in the Mac command line are as follows: the command syntax was entered incorrectly the command you are attempting to run is not installed the command was deleted, or, worse, the system directory was deleted or modified Gets installed into the share directory for the package. We should call xacro --inorder instead. ROS_ROOT=/opt/ros/indigo/share/ros I am running it on Ubuntu 14.04 with Ros Indigo. When I try to open Gazebo and spawn the robot, I get the following output: Running xacro.py on its own highlights the error: The complete urdf xacro file can be found here. I looked up the error and all of the suggested changes I found, like adding the xacro namespace to each macro & including xmlns:xacro="" at the top, are already present in the file. Calibration data is an ideal candidate to be loaded from YAML. GitHub - ros/xacro: Xacro is an XML macro language. Property blocks are named snippets of XML that can be inserted anywhere that XML is allowed. Let's compare between urdf and xacro in industrial example. Many of the features highlighted as "New in Jade" below are also accessible from Indigo. To get more verbose syntax error output run following command which generates urdf from xacro and checks for errors in syntax: Wiki: xacro (last edited 2022-03-03 08:19:43 by rhaschke), Except where otherwise noted, the ROS wiki is licensed under the, https://code.ros.org/svn/ros-pkg/stacks/common/tags/common-1.4.3, Maintainer: William Woodall , Maintainer: Morgan Quigley , Author: Stuart Glaser, William Woodall, Robert Haschke, Maintainer: Robert Haschke , Morgan Quigley . Would salt mines, lakes or flats be reasonably found in high, snowy elevations? I'm searching for an answer to why I can not see my second .xacro file that I'm including in my first one. @sat. Hence the latest definition of a property or macro seen so far, will be used. Macros can define properties within a local scope without affecting outside stuff. If you're completely new and you don't know what I mean by removing the macros, basically let's say you have a xacro file with something like this: To de-xacro-ify it, copy out the contents of the 'xacro:macro' tag each time there is an instance of ''. The Indigo one (this one) does not contain any instructions to generate an .srdf. Note: the readme you refer to (probably this one) is the readme for Kinetic. Linux "command not found" I want to do a project with Flexbe and I need to run MoveIt configuration wizard to setup the points. Baxter robot's urdf is at baxer.urdf is 1600 lines long. New in JadeOften, you need to pass external variables into local macro params (as above for x). URDF 44 xacro (Xml mACRO) 1 (property) Xacroproperty Xacro vis_lecture/xacro/basic1.xacro We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. The suffix property is defined in the pr2_caster tag as an attribute, but no origin property is defined. New in Jade: The more powerful evaluation capabilities in ROS Jade allow for much more complex expression. The above code would be replaced with: Obviously this isn't a best practice, as the whole point of the macros is to remove repeated code, but look, I followed all the instructions and it didn't work, whereas this approach clearly gets the job done. New in Jade: In order to add elements or attributes with a dynamically defined name, you can use the special xacro tags and : Classicly, xacro first loads all includes, then processes all property and macro definitions and finally instantiates macros and evaluates expressions. Using the optional attribute scope="parent|global", a property definition can be exported to the parent scope of a macro (or the global scope). New in Jade: Relative filenames are interpreted relative to the currently processed file. Yes, that is strange. You can include other xacro files using the xacro:include tag: The file "other_file.xacro", will be included and expanded by xacro. Allow non-GPL plugins in a GPL main program. To find the cause for the error, you will have to fix the script. It is heavily used in packages such as the urdf. I have a package called myrobot_description,with launch and urdf folder in it. This flag is discussed below, and for some background information see this pull request. I ran the install and the rospack find came back with the same location. Note that "origin" is starred. To de-xacro-ify it, copy out the contents of the 'xacro:macro' tag each time there is an instance of '<xacro:my_macro />'. Xacro currently supports most of the rospack commands that roslaunch supports using substitution args (with the exception of eval, see here). The error messages you're getting is from the *s being expanded into the actual contents of the directory you're inside. And let us divide the robot model in different files. $(cwd) explicitly allows to access files in the current working directory. Examples: Xacro has conditional blocks similar to roslaunch. The main configuration file of YUM is /etc/yum.conf, and the main directory, which stores the repository configuration file, is /etc/yum.repos.d/. printenv | grep ROS output: Usually, both processing styles should give identical results. That is only in Kinetic (and Jade probably). "" In your case it would become: btw,it is kind of weird because I've chosen ros full desktop installation, so it should not be any necessary package missing, isn't it? Here is were rospack find says it is: Hi everyone, I'm new to ROS and currently using indigo on 14.04 LTS. Then remove the original macro, leaving just its contents repeated. To ease this task, you can employ the ^ syntax: The caret ^ indicates to use the outer-scope property (with same name). link add a comment Your Answer Maintainer status: maintained Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>, Morgan Quigley <morgan AT osrfoundation DOT org> If there are any problematic properties, they will be listed on stderr: Using the command-line option -vv or -vvv one can increase verbosity level to log all defintions of properties. Instead, origin refers to the first element inside (the "pose" block, in this case). With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. In this case, simply move them up front, i.e. Both use the property tag to define values. To facilitate search for wrongly placed property definitions, you can run xacro with option --check-order. ROS_DISTRO=indigo Xacro (XML Macros) Related Tutorials/Questions & Answers: ModuleNotFoundError: No module named 'xacro'. 3.1. The ROS Wiki is for ROS 1. Cookie Notice Does integrating PDOS give total charge of a system? The above code would be replaced with: For more information, please see our Which tutorial (if any) did you follow? BTW, the nlopt is automatically installed when using sudo apt install ros-noetic-trac-ik.So, you don't need to worry about it. This package is most useful when working with large XML documents such as robot descriptions. Creative Commons Attribution Share Alike 3.0. If that is the case then I somehow loaded the incorrect version. So if props.yaml is loaded into the props xacro property (as above) and contains. Sudo update-grub does not work (single boot Ubuntu 22.04). Start using xacro-parser in your project by running `npm i xacro-parser`. DebianUbuntu "bash: wget command not found" https:// linux.cn/article-15274-1.html; Arindam; geekpi 22672 wget URL Linux . Should I give a brutally honest feedback on course evaluations? Using $(find xacro)/xacro.py in a launchfile finds this whether working from source or an install "xacro" - lives in the scripts directory in source. OP gave the content of the script. CGAC2022 Day 10: Help Santa sort presents! You'll need to enter the cron configuration into this file, and not just pasting it on the command line as you're doing. DebianUbuntu Linux "Bash: command not found" Reddit and its partners use cookies and similar technologies to provide you with a better experience. A common reason will be the late loading of calibration data (as properties). By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. After ruuning the command using. I think you get the error message because you are referring to that apache-solr-1.4.2-dev.zip or to something that the apache-solr-1.4.2-dev.zip does from within the script myScript.sh. Xacro (XML Macros) Xacro is an XML macro language. If you see the "cross", you're on the right track. Arguments need to be specified on the command line using the myvar:=true syntax. Are you using ROS 2 (Dashing/Foxy/Rolling)? To configure cron, you'll have to edit the users cronfile. This package contains the daemon which is responsible for setting the various parameters of a GNOME session and the applications that run under it. When combined with the math functionality, this is even more powerful. Additionally, the conditional tags, and , have no effect on macro or property definitions nor the inclusion of additional files. Please start posting anonymously - your entry will be published after you log in or create a new account. However, I cannot run the demo due to a problem with the robot definition. First, let's take an example of a simple macro used in R2D2. Getting "command not found" error in bash script. pi and trigonometric functions) are available for use. Property Instead of defining constant values, we can use variables, called property in xacro. The main feature of xacro is its support for macros. xacro is supposed to be part of the robot meta-package, which in turn is part of the desktop variant. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. Where does the idea of selling dragon parts come from? Virtually any python expression that evaluates to a Boolean is feasible: Xacro allows you to use certain rospack commands with dollared-parentheses ($()). xacro is supposed to be part of the robot meta-package, which in turn is part of the desktop variant. New in Jade: Properties are local if defined inside of a xacro:macro. It follows this syntax: The expression needs to evaluate to "0", "1", "true", or "false", otherwise an error will be thrown. When I run rospack find xacro it returns the location of it. How to input joint angle data to real denso robot. How to specify the private SSH-key to use when executing shell command on Git? Is it correct to say "The glue on the back of the sticker is dying down so I can not stick the sticker to the wall"? The pipe | indicates to use the given fallback if the property is not defined in outer scope. and our How do I tell if a file does not exist in Bash? redisStackOverFlowredis-cli. They become macro-local properties. Because --inorder processing is much more powerful, in future versions beyond Jade, the new processing style will become default and you should check the compatibility of your xacro files. New in Indigo: Since ROS Indigo, it is also possible to define defaults like so: In xacro files, args is a _global_ dictionary accessible from within any included file or macro. The remainder of this document describes the features of xacro. According to ROS wiki, calling xacro.py is deprecated since ROS Jade. What's the right commands for starting Baxter's Gazebo and MoveIt!? Edit: Well, I got it working by removing all the macros and replacing them with the full URDF definition. 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