Xacro (XML Macros)

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. Recent documentation can be found in the wiki. For older releases, have a look at the ROS wiki.

Changelog for package xacro

2.0.8 (2022-10-22)

• Install xacro using console_script entrypoint (#304)

• Provide xacro.process() returning the processed file (#229)

• Dotted YAML access from list iterator (#318)

• Optionally allow comment evaluation (#310)

  Comment evaluation can be enabled with a special comment:

  • <!-- xacro:eval-comments --> or
  • <!-- xacro:eval-comments:on -->

  It remains active for the following comments until:

  • the current XML tag's scope is left (or a new tag entered)
  • another tag or non-whitespace text is processed
  • it becomes explicitly disabled via: <!-- xacro:eval-comments:off -->

• Fix property resolution with namespace usage (#308)

  • Allow access to properties in parent scopes again (fixes #305)

  • Pick correct scope when defining a property into the parent (fixes #307)

    Setting a property within the parent scope may occur in two contexts:

    1. From within a macro. In that case, one wants to set the property in the caller's scope.
    2. From within the included file. In that case, one wants to set the property in the includer's scope.

• Contributors: Chen Bainian, Gonzalo de Pedro, Gonzo, Jacob Perron, Melvin Wang, Robert Haschke, vandanamandlik

2.0.7 (2021-09-04)

• Allow more builtin symbols: sorted, set
• Don't import hidden symbols from math package
• Fix eval security vulnerability
  • safe_eval()
  • unit tests validating the protection mechanism
• Generalize yaml !degrees constructors: Enable expressions as well
• Improve macro arg parsing (#278) to support:
  • $(substitution args)
  • ${python expressions}
  • single or double quoting of spaces
• Contributors: Robert Haschke

2.0.6 (2021-05-30)

• [feature] Expose YamlDictWrapper as dotify() to allow dotted access to any dict (#274)
• [fix] Scoped macro evaluation (#272)
• Contributors: Robert Haschke

2.0.5 (2021-03-02)

• [fix] Report correct filename for XML errors (#268)
• [fix] Python3-compatible property Table (#266)
• [fix] Use outer-scope symbols to resolve include filename in xacro:include (#264)
• [fix] Append test directory to existing AMENT_PREFIX_PATH (#260)
• [fix] yaml loading: recursively wrap lists and dicts for dotted dict access (#258)
• [feature] Provide support for yaml constructors !degrees and !radians (#252)
• Contributors: Chen Bainian, Robert Haschke, G.A. vd. Hoorn

2.0.3 (2020-08-09)

• Merge improvements of melodic and noetic branches into dashing-devel: see 1.14.2 and 1.14.3 for details
• Contributors: Robert Haschke

2.0.2 (2020-03-29)

• Merge improvements of melodic and noetic branches into dashing-devel: see 1.14.1, 1.13.5 for details
• Contributors: Robert Haschke

2.0.1 (2019-10-06)

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