roboticstoolbox-python 1.3.0__cp312-cp312-win_amd64.whl

roboticstoolbox/tools/xacro/cli.py

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+# Copyright (c) 2015, Open Source Robotics Foundation, Inc.
+# Copyright (c) 2013, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the Open Source Robotics Foundation, Inc.
+#       nor the names of its contributors may be used to endorse or promote
+#       products derived from this software without specific prior
+#       written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Authors: Stuart Glaser, William Woodall, Robert Haschke
+# Maintainer: Morgan Quigley <morgan@osrfoundation.org>
+
+import textwrap
+from optparse import OptionParser, IndentedHelpFormatter
+from .color import colorize, message
+
+
+class ColoredOptionParser(OptionParser):  # pragma: no cover
+    def error(self, message):
+        msg = colorize(message, "red")
+        OptionParser.error(self, msg)
+
+
+_original_wrap = textwrap.wrap
+
+
+def wrap_with_newlines(text, width, **kwargs):  # pragma: no cover
+    result = []
+    for paragraph in text.split("\n"):
+        result.extend(_original_wrap(paragraph, width, **kwargs))
+    return result
+
+
+class IndentedHelpFormatterWithNL(IndentedHelpFormatter):  # pragma: no cover
+    def __init__(self, *args, **kwargs):
+        IndentedHelpFormatter.__init__(self, *args, **kwargs)
+
+    def format_option(self, text):
+        textwrap.wrap, old = wrap_with_newlines, textwrap.wrap
+        result = IndentedHelpFormatter.format_option(self, text)
+        textwrap.wrap = old
+        return result
+
+
+def process_args(argv, require_input=True):  # pragma: no cover
+    parser = ColoredOptionParser(
+        usage="usage: %prog [options] <input>", formatter=IndentedHelpFormatterWithNL()
+    )
+    parser.add_option(
+        "-o",
+        dest="output",
+        metavar="FILE",
+        help="write output to FILE instead of stdout",
+    )
+    parser.add_option(
+        "--deps", action="store_true", dest="just_deps", help="print file dependencies"
+    )
+    parser.add_option(
+        "--inorder",
+        "-i",
+        action="store_true",
+        dest="in_order",
+        help="processing in read order (default, can be omitted)",
+    )
+
+    # verbosity options
+    parser.add_option(
+        "-q",
+        action="store_const",
+        dest="verbosity",
+        const=0,
+        help="quiet operation, suppressing warnings",
+    )
+    parser.add_option("-v", action="count", dest="verbosity", help="increase verbosity")
+    parser.add_option(
+        "--verbosity",
+        metavar="level",
+        dest="verbosity",
+        type="int",
+        help=textwrap.dedent("""\
+                      set verbosity level
+                      0: quiet, suppressing warnings
+                      1: default, showing warnings and error locations
+                      2: show stack trace
+                      3: log property definitions and usage on top level
+                      4: log property definitions and usage on all levels"""),
+    )
+
+    mappings = {}
+    filtered_args = argv
+
+    parser.set_defaults(just_deps=False, just_includes=False, verbosity=1)
+    (options, pos_args) = parser.parse_args(filtered_args)
+    if options.in_order:
+        message(
+            "xacro: in-order processing became default in ROS Melodic. "
+            "You can drop the option."
+        )
+    options.in_order = True
+
+    if len(pos_args) != 1:
+        if require_input:
+            parser.error("expected exactly one input file as argument")
+        else:
+            pos_args = [None]
+
+    options.mappings = mappings
+    return options, pos_args[0]

roboticstoolbox/tools/xacro/color.py

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+# Copyright (c) 2015, Bielefeld University
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of Bielefeld University
+#       nor the names of its contributors may be used to endorse or promote
+#       products derived from this software without specific prior
+#       written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import sys
+
+# bold colors
+_ansi = {"red": 91, "yellow": 93}
+
+
+def is_tty(stream):  # taken from catkin_tools/common.py  # pragma: no cover
+    """Returns True if the given stream is a tty, else False"""
+    return hasattr(stream, "isatty") and stream.isatty()
+
+
+def colorize(msg, color, file=sys.stderr, alt_text=None):  # pragma: no cover
+    if color and is_tty(file):
+        return "\033[%dm%s\033[0m" % (_ansi[color], msg)
+    elif alt_text:
+        return "%s%s" % (alt_text, msg)
+    else:
+        return msg
+
+
+def message(msg, *args, **kwargs):  # pragma: no cover
+    file = kwargs.get("file", sys.stderr)
+    alt_text = kwargs.get("alt_text", None)
+    color = kwargs.get("color", None)
+    print(colorize(msg, color, file, alt_text), *args, file=file)
+
+
+def warning(*args, **kwargs):  # pragma: no cover
+    defaults = dict(file=sys.stderr, alt_text="warning: ", color="yellow")
+    defaults.update(kwargs)
+    message(*args, **defaults)
+
+
+def error(*args, **kwargs):  # pragma: no cover
+    defaults = dict(file=sys.stderr, alt_text="error: ", color="red")
+    defaults.update(kwargs)
+    message(*args, **defaults)

roboticstoolbox/tools/xacro/tests/CMakeLists.txt

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+add_test(NAME xacro_cmake
+  # run test-cmake.sh for subdir test-xacro-cmake
+  COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/test-cmake.sh ${CMAKE_CURRENT_SOURCE_DIR}/test-xacro-cmake
+  )

roboticstoolbox/tools/xacro/tests/broken.xacro

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+ahhhhh this is a not an xml file and will create all sorts of errors ahhhh

roboticstoolbox/tools/xacro/tests/emoji.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="burger" value="🍔" />
+  ${burger}
+</robot>

roboticstoolbox/tools/xacro/tests/include1.xacro

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+<a xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:property name="var" value="1"/>
+	<xacro:macro name="foo"><inc1/></xacro:macro>
+</a>

roboticstoolbox/tools/xacro/tests/include1.xml

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+<a><inc1/></a>

roboticstoolbox/tools/xacro/tests/include2.xacro

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+<a xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:property name="var" value="2"/>
+	<xacro:macro name="foo"><inc2/></xacro:macro>
+</a>

roboticstoolbox/tools/xacro/tests/include2.xml

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+<a><inc2/></a>

roboticstoolbox/tools/xacro/tests/robots/README

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+these static imports were grabbed from public repositories on 18 december 2014,
+to try to have larger test cases. The idea is to compare the "golden" macro
+expansions saved here against the proposed changes to xacro, to make sure that
+at least we don't break the behavior of xacro as new features are added.

roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.gazebo.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="pr2_wheel_gazebo_v0" params="suffix parent">
+    <gazebo reference="${parent}_${suffix}_wheel_link">
+      <mu1 value="100.0" />
+      <mu2 value="100.0" />
+      <kp  value="1000000.0" />
+      <kd  value="1.0" />
+      <maxVel  value="100.0" />
+      <minDepth  value="0.0" />
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="pr2_caster_gazebo_v0" params="suffix">
+    <gazebo reference="${suffix}_caster_rotation_link">
+      <material value="PR2/caster_texture" />
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="pr2_base_gazebo_v0" params="name">
+    <gazebo reference="${name}_link">
+      <selfCollide>false</selfCollide>
+      <sensor type="contact" name="${name}_contact_sensor">
+        <always_on>true</always_on>
+        <update_rate>100.0</update_rate>
+        <contact>
+          <collision>${name}_link_geom</collision>
+        </contact>
+        <plugin name="${name}_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>100.0</updateRate>
+          <bumperTopicName>${name}_bumper</bumperTopicName>
+          <frameName>world</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+    <gazebo reference="${name}_bellow_link">
+      <material value="PR2/Black" />
+    </gazebo>
+    <gazebo>
+      <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bodyName>${name}_link</bodyName>
+        <topicName>${name}_pose_ground_truth</topicName>
+        <gaussianNoise>0.01</gaussianNoise>
+        <frameName>map</frameName>
+        <xyzOffsets>0 0 0</xyzOffsets>
+        <rpyOffsets>0 0 0</rpyOffsets>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+
+
+
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.transmission.xacro

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+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!--  Caster wheel transmission   -->
+  <xacro:macro name="pr2_wheel_transmission_v0" params="suffix parent reflect">
+    <transmission type="pr2_mechanism_model/SimpleTransmission" name="${parent}_${suffix}_wheel_trans">
+      <actuator name="${parent}_${suffix}_wheel_motor" />
+      <joint name="${parent}_${suffix}_wheel_joint" />
+      <mechanicalReduction>${reflect * 624/35 * 80/18}</mechanicalReduction>
+    </transmission>
+  </xacro:macro>
+
+  <!-- Hub transmission only -->
+  <xacro:macro name="pr2_caster_transmission_v0" params="suffix">
+    <transmission type="pr2_mechanism_model/SimpleTransmission" name="${suffix}_rotation_trans">
+      <actuator name="${suffix}_rotation_motor" />
+      <joint name="${suffix}_rotation_joint" />
+      <mechanicalReduction>${-1 * 624/35 * 80/18}</mechanicalReduction>
+    </transmission>
+  </xacro:macro>
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="../sensors/hokuyo_lx30_laser.urdf.xacro" />
+  <xacro:include filename="base.gazebo.xacro" />
+  <xacro:include filename="base.transmission.xacro" />
+
+  <!-- DATA SOURCES -->
+  <!-- all link offsets, CG, limits are obtained from Function Engineering spreadsheet 090224_link_data.xls unless stated otherwise -->
+  <!-- all link geometry sizes are obtained from Function provided CAD model unless stated otherwise -->
+  <!-- all simplified collision geometry are hand approximated from CAD model, sometimes from respective bounding boxes -->
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:property name="caster_offset_x" value="0.2246" />
+  <xacro:property name="caster_offset_y" value="0.2246" />
+  <xacro:property name="caster_offset_z" value="0.0282" />
+
+  <xacro:property name="caster_wheel_offset_y" value="0.049" />
+  <xacro:property name="wheel_length" value="0.034" />
+  <xacro:property name="wheel_radius" value="0.074792" />   <!-- This is the 'effective' wheel radius. Wheel radius for uncompressed wheel is 0.079.  mp 20080801 -->
+
+  <xacro:property name="base_cg_x" value="-0.061" />
+  <xacro:property name="base_cg_y" value="0.0" />
+  <xacro:property name="base_cg_z" value="${0.5*0.293}" />
+  <xacro:property name="base_mass" value="116.0" />
+
+  <!-- simplified box collision geometry for base -->
+  <xacro:property name="base_size_x" value="0.65" />
+  <xacro:property name="base_size_y" value="0.65" />
+  <xacro:property name="base_size_z" value="0.23" />
+  <xacro:property name="base_collision_size_z" value="0.04" />
+
+  <!-- simplified box collision geometry for hokuyo laser -->
+  <xacro:property name="base_laser_x" value="0.275" />
+  <xacro:property name="base_laser_y" value="0.0" />
+  <xacro:property name="base_laser_z" value="0.252" />
+  <xacro:property name="base_laser_size_x" value="0.06" />
+  <xacro:property name="base_laser_size_y" value="0.06" />
+  <xacro:property name="base_laser_size_z" value="0.03" />
+  <xacro:property name="base_laser_collision_offset_z" value="0.023" />
+
+  <!--                                                      -->
+  <!--           wheel                                      -->
+  <!--                                                      -->
+  <xacro:macro name="pr2_wheel_v0" params="suffix parent reflect">
+
+    <joint name="${parent}_${suffix}_wheel_joint" type="continuous">
+      <axis xyz="0 1 0" />
+      <limit effort="7" velocity="15"/> <!-- alpha tested effort and velocity limits -->
+      <safety_controller  k_velocity="10" />
+      <dynamics damping="1.0" friction="0.0" />
+      <origin xyz="0 ${reflect*caster_wheel_offset_y} 0" rpy="0 0 0" />
+      <parent link="${parent}_rotation_link"/>
+      <child link="${parent}_${suffix}_wheel_link"/>
+    </joint>
+    <link name="${parent}_${suffix}_wheel_link">
+      <inertial>
+        <mass value="0.44036" />
+        <origin xyz="0 0 0" />
+        <inertia  ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
+                  iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae" />
+        </geometry>
+        
+        <material name="Wheel_${suffix}" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /> <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+        <geometry>
+          <cylinder radius="${wheel_radius}" length="${wheel_length}" />
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- extensions -->
+    <xacro:pr2_wheel_gazebo_v0 parent="${parent}" suffix="${suffix}" />
+    <xacro:pr2_wheel_transmission_v0 parent="${parent}" suffix="${suffix}" reflect="${reflect}" />
+
+  </xacro:macro>
+
+  <!-- Macro for PR2 Caster hub only -->
+  <xacro:macro name="pr2_caster_hub_v0" params="suffix parent *origin ref_position" >
+    <joint name="${suffix}_rotation_joint" type="continuous">
+      <axis xyz="0 0 1" />
+      <limit effort="6.5" velocity="10"/> <!-- alpha tested velocity and effort limits -->
+      <safety_controller  k_velocity="10" />
+      <calibration rising="${ref_position}" />
+      <dynamics damping="1.0" friction="0.0" />
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${suffix}_rotation_link" />
+    </joint>
+    <link name="${suffix}_rotation_link">
+
+      <inertial>
+        <mass value="3.473082"/>
+        <origin xyz="0 0 0.07" />
+        <inertia  ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
+                  iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/base_v0/caster.stl" />
+        </geometry>
+        
+        <material name="Caster" />
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/base_v0/caster_L.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- extensions -->
+    <xacro:pr2_caster_transmission_v0 suffix="${suffix}" />
+  </xacro:macro>
+
+  <xacro:macro name="pr2_caster_v0" params="suffix parent *origin ref_position">
+
+    <xacro:pr2_caster_hub_v0 parent="${parent}" suffix="${suffix}_caster"
+                             ref_position="${ref_position}" >
+      <xacro:insert_block name="origin" />
+    </xacro:pr2_caster_hub_v0>
+
+    <!-- wheel macros -->
+    <xacro:pr2_wheel_v0 parent="${suffix}_caster" suffix="l" reflect="1" />
+    <xacro:pr2_wheel_v0 parent="${suffix}_caster" suffix="r" reflect="-1" />
+
+    <!-- extensions -->
+    <xacro:pr2_caster_gazebo_v0 suffix="${suffix}" />
+  </xacro:macro>
+
+
+  <!-- The xacro macro xacro:pr2_base contains: base, casters and wheels -->
+  <xacro:macro name="pr2_base_v0" params="name">
+    <link name="${name}_link">
+
+      <inertial>
+        <mass value="${base_mass}" />
+        <origin xyz="${base_cg_x} ${base_cg_y} ${base_cg_z}" />
+        <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423"
+                 iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/base_v0/base.dae" />
+        </geometry>
+        
+        <material name="White" />
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/base_v0/base_L.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin,
+         navigation stack dedpends on this frame -->
+    <link name="${name}_footprint">
+      <inertial>
+        <mass value="1.0" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+                 iyy="0.01" iyz="0.0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+        
+        <material name="White" />
+      </visual>
+      <collision>
+        <!-- represent base collision with a simple rectangular model, positioned by base_size_z s.t. top
+             surface of the collision box matches the top surface of the PR2 base -->
+        <origin xyz="0 0 ${0.051+base_collision_size_z/2}" rpy="0 0 0" />
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_footprint_joint" type="fixed">
+      <origin xyz="0 0 0.051" rpy="0 0 0" />
+      <child link="${name}_link" />
+      <parent link="${name}_footprint"/>
+    </joint>
+
+    <!-- visualize bellow -->
+    <link name="${name}_bellow_link">
+      <inertial>
+        <mass value="1.0" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+                 iyy="0.01" iyz="0.0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.37 0.3" />
+        </geometry>
+        <material name="Black" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.37 0.3" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_bellow_joint" type="fixed">
+      <origin xyz="-0.29 0 0.8" rpy="0 0 0" />
+      <parent link="${name}_link" />
+      <child link="${name}_bellow_link"/>
+    </joint>
+
+    <!-- base laser -->
+    <xacro:hokuyo_lx30_laser_v0 name="${name}_laser" parent="${name}" ros_topic="base_scan" update_rate="20" min_angle="-2.2689" max_angle="2.2689" >
+      <origin xyz="${base_laser_x} ${base_laser_y} ${base_laser_z}" rpy="0 0 0" />
+    </xacro:hokuyo_lx30_laser_v0>
+
+    <!-- all four caster macros -->
+    <xacro:pr2_caster_v0 suffix="fl" parent="${name}_link" ref_position="${cal_caster_fl - M_PI/4}" >
+      <origin xyz="${caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </xacro:pr2_caster_v0>
+    <xacro:pr2_caster_v0 suffix="fr" parent="${name}_link" ref_position="${cal_caster_fr - M_PI/4}" >
+      <origin xyz="${caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </xacro:pr2_caster_v0>
+    <xacro:pr2_caster_v0 suffix="bl" parent="${name}_link" ref_position="${cal_caster_bl - M_PI / 4 + M_PI}" >
+      <origin xyz="${-caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </xacro:pr2_caster_v0>
+    <xacro:pr2_caster_v0 suffix="br" parent="${name}_link" ref_position="${cal_caster_br - M_PI / 4 + M_PI}"  >
+      <origin xyz="${-caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </xacro:pr2_caster_v0>
+
+    <!-- gazebo extensions -->
+    <xacro:pr2_base_gazebo_v0 name="${name}" />
+
+  </xacro:macro>
+
+
+
+
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/common.xacro

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="VELOCITY_LIMIT_SCALE" value="0.6" />
+
+  <!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
+  <xacro:property name="cal_r_shoulder_pan_gearing"   value="1.0" />
+  <xacro:property name="cal_r_shoulder_lift_gearing"  value="1.0" />
+  <xacro:property name="cal_r_upper_arm_roll_gearing" value="1.0" />
+
+  <!-- ********** Right Arm ********** -->
+  <!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
+  <xacro:property name="cal_r_shoulder_pan_flag"   value="0.0" />
+  <xacro:property name="cal_r_shoulder_lift_flag"  value="0.0" />
+  <xacro:property name="cal_r_upper_arm_roll_flag" value="0.0" />
+  <xacro:property name="cal_r_elbow_flex_flag"     value="0.0" />
+  <xacro:property name="cal_r_forearm_roll_flag"   value="0.0" />
+  <xacro:property name="cal_r_wrist_flex_flag"     value="0.0" />
+  <xacro:property name="cal_r_wrist_roll_flag"     value="0.0" />
+  
+  <!-- ********** Head ********** -->
+  <!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
+  <xacro:property name="cal_head_x" value="0.0" />
+  <xacro:property name="cal_head_y" value="0.0" />
+  <xacro:property name="cal_head_z" value="0.0" />
+  <xacro:property name="cal_head_roll" value="0.0" />
+  <xacro:property name="cal_head_pitch" value="0.0" />
+  <xacro:property name="cal_head_yaw" value="0.0" />
+
+  <!-- Flag Offsets -->  
+  <xacro:property name="cal_head_pan_flag"  value="0.0" />
+  <xacro:property name="cal_head_tilt_flag" value="0.0" />
+
+  <xacro:property name="cal_head_pan_flag" value="0.0"/>
+  <xacro:property name="cal_head_tilt_flag" value="0.0"/>
+  
+  <!-- Casters -->
+  <xacro:property name="cal_caster_fl" value="0.0" />
+  <xacro:property name="cal_caster_fr" value="0.0" />
+  <xacro:property name="cal_caster_bl" value="0.0" />
+  <xacro:property name="cal_caster_br" value="0.0" />
+
+  <!-- Stereo Camera Location (Nominally 0) -->
+  <xacro:property name="cal_stereo_x" value="0.0" />
+  <xacro:property name="cal_stereo_y" value="0.0" />
+  <xacro:property name="cal_stereo_z" value="0.0" />
+  <xacro:property name="cal_stereo_roll" value="0.0" />
+  <xacro:property name="cal_stereo_pitch" value="0.0" />
+  <xacro:property name="cal_stereo_yaw" value="0.0" />
+
+  <!-- Kinect Camera Location (Nominally 0) -->
+  <xacro:property name="cal_kinect_x" value="0.0" />
+  <xacro:property name="cal_kinect_y" value="0.0" />
+  <xacro:property name="cal_kinect_z" value="0.0" />
+  <xacro:property name="cal_kinect_roll" value="0.0" />
+  <xacro:property name="cal_kinect_pitch" value="0.0" />
+  <xacro:property name="cal_kinect_yaw" value="0.0" />
+
+  <!-- HighDef Camera Location (Nominally 0) -->
+  <xacro:property name="cal_high_def_x" value="0.0" />
+  <xacro:property name="cal_high_def_y" value="0.0" />
+  <xacro:property name="cal_high_def_z" value="0.0" />
+  <xacro:property name="cal_high_def_roll" value="0.0" />
+  <xacro:property name="cal_high_def_pitch" value="0.0" />
+  <xacro:property name="cal_high_def_yaw" value="0.0" />
+
+  <!-- Throwing in left arm constants to appease the xacro parser -->
+  <xacro:property name="cal_l_shoulder_pan_flag" value="0.000000" />
+  <xacro:property name="cal_l_wrist_roll_flag" value="0.0" />
+</robot>