API review

Proposer: Stuart Glaser

Documentation: xacro

Present at review:

• List reviewers

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Stu:

• Recursive variable substitution support: #1497

• Treatment of undefined parameters #1176

Bhaskara:

• Second ken's suggestion for a xacro namespace. This would also allow, e.g., the parser to signal an error if hypothetically I were to forget to include the file that contains a given macro definition.

Roland:

• documentation: xacro is an XML preprocessor, right? So it spews out an XML file that can be read with some non-xacro parser?
• escape sequences? e.g. if someone needs an attribute with the litteral value '${foo}' instead of the value of the variable foo?

John:

• if user forgets ${...} around a variable, is there a way of getting an warning? I see this in several places as I am reworking the URDF. For example,

  <origin xyz="cal_head_x" />

  should be

  <origin xyz="${cal_head_x}" />

  if variable cal_head_x is defined. Though it is not always the case that a variable is expected... but it seems like an easy error to make.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

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