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Replace xacro.py to xacro --inorder #220

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youtalk opened this issue Aug 29, 2018 · 10 comments · Fixed by ros-industrial/motoman_experimental#41, ros-industrial/industrial_calibration#127, ros-industrial/abb#154 or ros-industrial/motoman#241 · May be fixed by ros-industrial-attic/robot_movement_interface#12
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Replace xacro.py to xacro --inorder #220

youtalk opened this issue Aug 29, 2018 · 10 comments · Fixed by ros-industrial/motoman_experimental#41, ros-industrial/industrial_calibration#127, ros-industrial/abb#154 or ros-industrial/motoman#241 · May be fixed by ros-industrial-attic/robot_movement_interface#12

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@youtalk
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youtalk commented Aug 29, 2018 •
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According to ROS wiki, calling xacro.py is deprecated since ROS Jade. We should call xacro --inorder instead.

For example, when I launch the following roslaunch, I found the warning.

$ roslaunch myworkcell_support view_urdf.launch 
... logging to /home/youtalk/.ros/log/28629fea-ab96-11e8-970b-001c4274c9d5/roslaunch-{$HOST}-13712.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

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
...

There are over 50 search results which uses xacro.py in ros-industrial packages.
https://github.com/search?p=2&q=org%3Aros-industrial+xacro.py&type=Code

So I started replacing all of them. Today is my too belated World ROS-I Day 2018.
This was referenced Aug 29, 2018
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@gbiggs
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gbiggs commented Aug 30, 2018 •
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From Melodic, --inorder is no longer needed. If it is used, a warning will be printed.

$ xacro --inorder
xacro: in-order processing became default in ROS Melodic. You can drop the option.
Usage: xacro [options] <input>

@youtalk
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youtalk commented Aug 30, 2018

Oops. Thank you for your comment.
Because I've just used ROS Kinetic, I couldn't notice it.
I will update my PRs.

@gavanderhoorn
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@youtalk: what @gbiggs writes is correct, but since we don't target Melodic yet with most ROS-Industrial packages, adding --inorder is still ok. I don't believe you have to update your PRs.

@youtalk
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youtalk commented Aug 30, 2018

Oh, I got it.

This was referenced Aug 30, 2018
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@youtalk
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youtalk commented Aug 31, 2018

I've finished replacing. I hope someone reviews them.

@isaacKL
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isaacKL commented Feb 5, 2020

So how should that look in line?

@darshb34
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darshb34 commented Feb 18, 2020 •
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So how should that look in line?

            For ROS Melodic

<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

            For ROS kinetic and others

<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

@isaacKL
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isaacKL commented Feb 18, 2020

thanks

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@gavanderhoorn gavanderhoorn mentioned this issue Feb 11, 2021
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@gbiggs @youtalk @gavanderhoorn @darshb34 @isaacKL @Msamaritan