Unnecessary search for pholus_urdf?

[vigisushrutha23]

When i used the centauro_world launch file from the package centaro_gazebo got errors in the launch (see screenshot) indicating that it was searching for the package pholus_urdf. I searched for the usage and found two usages of the particular package without the package not being in xbot2 binaries or the iit-centauro-ros-pkg. Am I missing any files from the xbot2 binaries or do i need to source some other package.

[alaurenzi]

I am confused by this.. I also found (wrong and to be removed) references inside parts/torso.urdf.xacro and the heri hand xacro as well. None of them is supposed to be included in the final urdf though.. (for the torso we have parts/centauro_torso.urdf.xacro).

Plus CI is passing on master.. do you have any clue? For sure I am missing something

[alaurenzi]

Now on my local machine (bionic / ros melodic) if I remove a commented line it works..

I am starting to think of a broken xacro parser on melodic after a recent update

[alaurenzi]

I am starting to think of a broken xacro parser on melodic after a recent update

This is actually the case on melodic. Tracked here.

FYI @liesrock @aled96 @torydebra @lucarossini-iit

Edit: it actually looks intentional, see this PR. It should not generate an error btw

[alaurenzi]

@nkashiri affected, too

[vigisushrutha23]

I think to be safe future xacro files.... if we really need to put comments we can simply remove the "find" package statement in the fake/commented xacro declarations because the parser seems to ignore it if there is no $(find)

[nkashiri]

or just make sure the commented lines include directory paths that exist. It solved my issue.