xacro2urdf

Parser(xacro.py) for xacro to urdf based on saulrh/xacro. This xacro.py can be executed without ROS environment.

My Environment

• windows 8.1
• python3.6 with Anaconda
• Visual Studio Code

How to use

1. Run test_xacro.py to verify that the xacro.py is working properly.
2. Run python xacro.py can get some helpful information.
3. Move xacro.py to the same directory as urdf folder. You can see the file structure in abb_irb4600_support folder for detail.
4. Run python xacro.py -o ./target.urdf urdf/origin.xacro to start convertion. For example, python xacro.py -o ./test_abb_4600.urdf urdf/irb4600_60_205.xacro in abb_irb4600_support folder. If convert successfully, the test_abb_4600.urdf will be generated.

Attention: The xacro.py must be in same directory as urdf folder.

What's difference from saulrh/xacro code

Because saulrh/xacro code need python2 environment and works incorrectly in my computer, so I convert the code from python2 to python3 and fix some bugs in file path reading in line 378. You can see the change through the comments.