一.进入到urdf文件夹,或者.urdf/.xacro所在的文件夹下,执行:
$ rosrun xacro xacro.py robot1.xacro > robot1_processed.urdf
得到:
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
说明:xacro.py命令已经过期,使用xacro替换
$ rosrun xacro xacro robot1.xacro > robot1_processed.urdf
得到:
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
再次执行:
$ rosrun xacro xacro --inorder robot1.xacro > robot1_processed.urdf
成功,在当前目录 ls , 可获得新生成的文件robot1_processed.urdf