Skip to content

allow extending with macro #23

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nathanhhughes merged 1 commit into from
Aug 26, 2025
Merged

allow extending with macro #23

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 0 additions & 6 deletions spot_tools_ros/urdf/empty.urdf
View file
Open in desktop

This file was deleted.

4 changes: 4 additions & 0 deletions spot_tools_ros/urdf/empty.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="load_extras" params="tf_prefix"/>
</robot>
11 changes: 8 additions & 3 deletions spot_tools_ros/urdf/spot.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,17 +14,22 @@
<xacro:arg name="gripperless" default="false" />

<!-- Set to true to enable joints -->
<xacro:arg name="include_transmissions" default="true" />^M
<xacro:arg name="include_transmissions" default="true"/>

<!-- Set to the accent color you want for spot -->
<xacro:arg name="spot_color" default="yellow" />
<xacro:arg name="spot_color" default="yellow"/>

<!-- Load Spot -->
<xacro:load_spot
arm="$(arg arm)"
tf_prefix="$(arg tf_prefix)"
spot_color="$(arg spot_color)"
gripperless="$(arg gripperless)"
include_transmissions="$(arg include_transmissions)" />
include_transmissions="$(arg include_transmissions)"/>

<!-- Optional custom includes. -->
<xacro:arg name="extras_urdf" default="$(find spot_tools_ros)/urdf/empty.urdf.xacro"/>
<xacro:include filename="$(arg extras_urdf)"/>
<xacro:load_extras tf_prefix="$(arg tf_prefix)"/>

</robot>
4 changes: 0 additions & 4 deletions spot_tools_ros/urdf/spot_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -552,10 +552,6 @@
</transmission>
</xacro:if>

<!-- Optional custom includes. -->
<xacro:property name="default_empty_urdf" value="$(find spot_tools_ros)/urdf/empty.urdf" />
<xacro:include filename="$(optenv SPOT_URDF_EXTRAS ${default_empty_urdf})" />

<!-- Include Arm if necessary-->
<xacro:if value="${arm}">
<xacro:include filename="$(find spot_tools_ros)/urdf/spot_arm_macro.urdf" />
Expand Down