I've been creating this stand alone urdf.xacro file to enact my macros. Is there a way to invoke/call a xacro macro from a python launch file and pass parameters? I've provided the file below. I'm using ROS 2 Humble.

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pxxls_assembly">
    <xacro:include filename="$(find interbotix_xsturret_descriptions)/urdf/pxxls.urdf.xacro"
      ns="interbotix" />
    <xacro:interbotix.pxxls robot_name="pxxls" base_link_frame="base_link" />



  • 1
    $\begingroup$ Welcome to Robotics, Yato. When you ask, "Is there a way to do this," what are you asking about? Is there a way to do... what? Could you please edit your question to clarify what you're trying to do? $\endgroup$
    – Chuck
    Jan 26 at 21:33
  • $\begingroup$ You can xacro.process_file(urdf_file, mappings={'robot_name': ''}).toxml() to pass in parameters to a urdf. $\endgroup$
    – Yato
    Feb 5 at 19:00


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