ROS_MASTER_URI=http://localhost:11311 I ran the install and the rospack find came back with the same location. Usually, both processing styles should give identical results. Setup cron job to execute python script inside the bash sh file. And let us divide the robot model in different files. Which tutorial (if any) did you follow? See Local properties. ls "command not found" 2. DebianUbuntu "bash: wget command not found" https:// linux.cn/article-15274-1.html; Arindam; geekpi 22672 wget URL Linux . With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. How do I set a variable to the output of a command in Bash? The Indigo one (this one) does not contain any instructions to generate an .srdf. Gets installed to the lib directory for the package. If that is the case then I somehow loaded the incorrect version. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. Let's compare between urdf and xacro in industrial example. 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 . It is heavily used in packages such as the urdf. 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. To de-xacro-ify it, copy out the contents of the 'xacro:macro' tag each time there is an instance of '<xacro:my_macro />'. Please start posting anonymously - your entry will be published after you log in or create a new account. This indicates that origin is a block parameter instead of a simple text parameter. In this case, simply move them up front, i.e. The remainder of this document describes the features of xacro. How many transistors at minimum do you need to build a general-purpose computer? Should I give a brutally honest feedback on course evaluations? "Could not find parameter robot_description_semantic" URDF ROS . Why does the USA not have a constitutional court. If you see the "cross", you're on the right track. How have you installed ROS? New in Jade: The more powerful evaluation capabilities in ROS Jade allow for much more complex expression. Then remove the original macro, leaving just its contents repeated. Look ahead to the use of pr2_caster. I get the same command not found message when I run the xacro command. 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. I'm searching for an answer to why I can not see my second .xacro file that I'm including in my first one. This is useful for things like configurable robots or loading different Gazebo plugins. Examples: Xacro has conditional blocks similar to roslaunch. The repository configuration file has got a specific syntax, and it should end with a .repo extension in the /etc/yum.repos.d/ directory. URDF . To ease this task, you can employ the ^ syntax: The caret ^ indicates to use the outer-scope property (with same name). To facilitate search for wrongly placed property definitions, you can run xacro with option --check-order. CGAC2022 Day 10: Help Santa sort presents! xacro is supposed to be part of the robot meta-package, which in turn is part of the desktop variant. Parameterized Macro You can also parameterize macros so that they don't generate the same exact text every time. If you want to keep a comment in the final document, separate it with an empty line from the macro. If the xacro with a specified name is not found, it will not be expanded and will NOT generate an error. Check out the ROS 2 Documentation. Reddit and its partners use cookies and similar technologies to provide you with a better experience. URDF 44 xacro (Xml mACRO) 1 (property) Xacroproperty Xacro vis_lecture/xacro/basic1.xacro Installing ros-indigo-desktop should have installed xacro as well. See for example, this tutorial for how xacro is used to simplify urdf files. That is only in Kinetic (and Jade probably). The example declares a macro "pr2_caster", which takes two parameters: suffix and origin. 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. 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. // 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" MoveIt! Utility for parsing and converting ROS Xacro files in Javascript.. Latest version: 0.3.8, last published: 7 months ago. Macros can define properties within a local scope without affecting outside stuff. 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. ROS_PACKAGE_PATH=/home/baxter/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks xacro: in-order processing became default in ROS MeLodic. 3.1. This will launch $EDITOR and let you edit the current cron file. Edit: Well, I got it working by removing all the macros and replacing them with the full URDF definition. rev2022.12.9.43105. Assigning default values to shell variables with a single command in bash, Command not found error in Bash variable assignment. A common reason will be the late loading of calibration data (as properties). Why is apparent power not measured in Watts? You'll need to enter the cron configuration into this file, and not just pasting it on the command line as you're doing. .github cmake scripts src/ xacro test .gitignore .pre-commit-config.yaml The ROS Wiki is for ROS 1. Can I run the Kinetic package on an Indigo ROS setup? Yes, that is strange. Why does the distance from light to subject affect exposure (inverse square law) while from subject to lens does not? Privacy Policy. not visible outside. It handles the following kinds of settings: * Keyboard: layout, accessibility options, shortcuts, media keys * Clipboard management * Theming: background, icons, GTK+ applications * Cleanup of . You can usually do this by doing crontab -e logged in as the actual users. Hence the latest definition of a property or macro seen so far, will be used. Instead, origin refers to the first element inside (the "pose" block, in this case). Here's an example of using a property block: Within dollared-braces (${}), you can also write simple math expressions. Maintainer status: maintained Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>, Morgan Quigley <morgan AT osrfoundation DOT org> What is this fallacy: Perfection is impossible, therefore imperfection should be overlooked. The error messages you're getting is from the *s being expanded into the actual contents of the directory you're inside. When I run rospack find xacro it returns the location of it. Getting "command not found" error in bash script. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. 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). Using the optional attribute scope="parent|global", a property definition can be exported to the parent scope of a macro (or the global scope). Linux "command not found" Appropriate translation of "puer territus pedes nudos aspicit"? redis redis-cli redis-cliredis-cli: command not found. 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. Please help me out. 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. 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/. The package is called "cronie-anacron". When combined with the math functionality, this is even more powerful. printenv | grep ROS output: 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. For more information, please see our I've run the cron job command directly instead of creating/editing the cron job. To configure cron, you'll have to edit the users cronfile. Allow non-GPL plugins in a GPL main program. How do I parse command line arguments in Bash? See here, for an example showing the use of the advanced features (python evaluation, yaml integration) introduced in Jade. Where does the idea of selling dragon parts come from? Xacro currently supports most of the rospack commands that roslaunch supports using substitution args (with the exception of eval, see here). xacro is supposed to be part of the robot meta-package, which in turn is part of the desktop variant. Xacro (XML Macros) Xacro is an XML macro language. How to reload .bash_profile from the command line. New in JadeOften, you need to pass external variables into local macro params (as above for x). I want to do a project with Flexbe and I need to run MoveIt configuration wizard to setup the points. Property Instead of defining constant values, we can use variables, called property in xacro. 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. Ready to optimize your JavaScript with Rust? I have a package called myrobot_description,with launch and urdf folder in it. 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. DebianUbuntu Linux "Bash: command not found" 29004. Connect and share knowledge within a single location that is structured and easy to search. How to input joint angle data to real denso robot. Include filenames can be specified via properties or macro parameters. Many of the features highlighted as "New in Jade" below are also accessible from Indigo. Please start posting anonymously - your entry will be published after you log in or create a new account. When I run rospack find xacro it returns the location of it. pocketsphinx indigo acoustic model missing parameter, Creative Commons Attribution Share Alike 3.0. Since ROS Jade, xacro provides the command-line option --inorder, that allows to process the whole document in read order. Yes, that is strange. $(cwd) explicitly allows to access files in the current working directory. 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. 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. I think more about a badly-located wildcard. To find the cause for the error, you will have to fix the script. New in Jade: Properties are local if defined inside of a xacro:macro. Penrose diagram of hypothetical astrophysical white hole. Do I need to switch it? However, I cannot run the demo due to a problem with the robot definition. 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. Properties are named values that can be inserted anywhere into the XML document. Thus, later property or macro definitions will override previous ones. Gets installed into the share directory for the package. It follows this syntax: The expression needs to evaluate to "0", "1", "true", or "false", otherwise an error will be thrown. Are you using ROS 2 (Dashing/Foxy/Rolling)? 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. 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? Note: When including files within a macro, not the macro-defining but the macro-calling file is the one that processes the include! I can't understand the relation between Solr and Cron job. 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 ''. So if props.yaml is loaded into the props xacro property (as above) and contains. Xacro syntax 3.1.1. /opt/ros/indigo/share/xacro. Can you add the output of the linux command printenv | grep ROS to your question, so we can check your environment. 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! Related Tutorials/Questions & Answers: ModuleNotFoundError: No module named 'xacro'. There is 1 other project in the npm registry using xacro-parser. Baxter robot's urdf is at baxer.urdf is 1600 lines long. By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. This results in files with a .urdf extension. printenv | grep ROS output: After ruuning the command using. For example: New in JadeComments in front of macros will be removed during processing. You can include other xacro files using the xacro:include tag: The file "other_file.xacro", will be included and expanded by xacro. 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. pi and trigonometric functions) are available for use. redisStackOverFlowredis-cli. Here is were rospack find says it is: ros / noetic-devel 11 branches 76 tags Code 526 commits Failed to load latest commit information. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. 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. Virtually any python expression that evaluates to a Boolean is feasible: Xacro allows you to use certain rospack commands with dollared-parentheses ($()). 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. So we need to convert xacro into urdf first, . $ roslaunch my. How do I list all cron jobs for all users? 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 '. OP gave the content of the script. How do I tell if a file does not exist in Bash? DebianUbuntu Linux "Bash: command not found" The outer macro will be expanded first, and then the inner macro will be expanded. When would I give a checkpoint to my D&D party that they can return to if they die? 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. To use them, the --inorder flag is required. Note: the readme you refer to (probably this one) is the readme for Kinetic. . 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 Unlike urdf, there isn't check_xacro command to check whether xacro file is correctly written. They become macro-local properties. I found the command in a readme file in the baxter_moveit_config folder. So, the error message has to do with the script and not with the cron job. They are considered to be related to the macro (e.g. I am glad that you made it work. explaining the macro). New in JadeProperties and macros defined within a macro are local to this macro, i.e. You can easily check this like so: If there are any differences shown, you should check and adapt your xacro file. I am running it on Ubuntu 14.04 with Ros Indigo. You'd have to ask the maintainers of that package whether that is possible. ROS_DISTRO=indigo and our Sudo update-grub does not work (single boot Ubuntu 22.04). First, let's take an example of a simple macro used in R2D2. The pipe | indicates to use the given fallback if the property is not defined in outer scope. Does integrating PDOS give total charge of a system? The xacro property loaded from a YAML file is treated as dictionary. Using "rosrun xacro xacro" finds this one in both source and install. Both use the property tag to define values. Start using xacro-parser in your project by running `npm i xacro-parser`. link add a comment Your Answer As a native speaker why is this usage of I've so awkward? - Here's my MWE: I'm succefully loading a .xacro file and seeing it in Rviz by launching Additionally, the conditional tags, and , have no effect on macro or property definitions nor the inclusion of additional files. Then remove the original macro, leaving just its contents repeated. I don't believe xacro is put on the regular PATH on Trusty/Indigo. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. GitHub - ros/xacro: Xacro is an XML macro language. ROS_ROOT=/opt/ros/indigo/share/ros 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. Sometime, creating a " minimally reproducible example" helps to filter the issue, as you did. Xacro (XML Macros) Gonna leave this up for any other confused soul, even though I still don't know what caused this issue. The suffix property is defined in the pr2_caster tag as an attribute, but no origin property is defined. Cookie Notice Find centralized, trusted content and collaborate around the technologies you use most. Installing ros-indigo-desktop should have installed xacro as well. 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). Is Energy "equal" to the curvature of Space-Time? For example, when I launch the following roslaunch, I found the warning. It allow the use of variables, math and macros. Property blocks are named snippets of XML that can be inserted anywhere that XML is allowed. We should call xacro --inorder instead. 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 . Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content. Would salt mines, lakes or flats be reasonably found in high, snowy elevations? Functions and constants from the python math module (e.g. BTW, the nlopt is automatically installed when using sudo apt install ros-noetic-trac-ik.So, you don't need to worry about it. New in Indigo Macro parameters can have default values: If the defaults contain evaluation expressions, they will be evaluated at instantiation time. Arguments need to be specified on the command line using the myvar:=true syntax. If you want a literal "${", you should escape it as "$${". before usage. This package is most useful when working with large XML documents such as robot descriptions. @sat. How to smoothen the round border of a created buffer to make it look more natural? "" Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. This flag is discussed below, and for some background information see this pull request. Since Jade, this syntax is deprecated and you should update your files accordingly. 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 is an XML macro language. Not the answer you're looking for? 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. 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. Currently, basic arithmetic and variable substitution is supported. Xacro is an Xml macro that introduce the use of macros in an urdf file. Put simply, this flag is used to trigger Jade-enabled xacro processing on Indigo. Modern wiki: https://github.com/ros/xacro/wiki. The main feature of xacro is its support for macros. What's the right commands for starting Baxter's Gazebo and MoveIt!? 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. Can you provide some more information on how you installed ROS? This allows for more complex arithmetic expressions. The above code would be replaced with: By changing properties at the global scope, the instantiation of a macro can yield different results if these properties are used in the macro. 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"? Calibration data is an ideal candidate to be loaded from YAML. This package contains the daemon which is responsible for setting the various parameters of a GNOME session and the applications that run under it. 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. I can try manually installing the xacro package again to see if that fixes it though. Define macros with the macro tag, and specify the macro name and the list of parameters. I am running it on Ubuntu 14.04 with Ros Indigo. Which tutorial (if any) did you follow? The cron job does nothing else than to start myScript.sh at certain times. 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. Hi everyone, I'm new to ROS and currently using indigo on 14.04 LTS. I am trying to run a xacro command to generate the latest baxter.srdf file to use with Moveit config. Note that "origin" is starred. * * * * * /home/path1/path2/myScript.sh >>/home/path1/path2/Logs/output.txt 2>&1. The list of parameters should be whitespace separated. This example expands to the following: Multiple block parameters will be processed in the specified order: Macros may contain other macros. Can you provide some more information on how you installed ROS? ROS_ETC_DIR=/opt/ros/indigo/etc/ros. New in Jade: Relative filenames are interpreted relative to the currently processed file. Creative Commons Attribution Share Alike 3.0. How to specify the private SSH-key to use when executing shell command on Git? redis-cli: command not found . According to ROS wiki, calling xacro.py is deprecated since ROS Jade. Here's an example: Since ROS Jade, Xacro employs python to evaluate expressions enclosed in dollared-braces, ${}. 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. 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