Hector XACRO Tools - ROS2 Jazzy

This packages contains various XACRO macros. A list is given below.

inertia_tensors.urdf.xacro

• inertial_cuboid [mass, x_length, y_length, z_length]
• inertial_cuboid_with_pose [mass, x_length, y_length, z_length, *origin]
• inertial_sphere [mass, diameter]
• inertial_sphere_with_pose [mass, diameter, *origin]
• inertial_cylinder [mass, radius, length]
• inertial_cylinder_with_pose [mass, radius, length, *origin]

joint_macros.urdf.xacro

• joint_standard_transmission [name]
• joint_position_transmission [name]
• joint_velocity_transmission [name]

sensor_macros.urdf.xacro

• add_optical_frame [name]