xacro
xacro provide macro extension for original URDF, including variables and functions. We need to include namespace at robot element.
<robot name="test" xmlns:xacro="http://wiki.ros.org/xacro">
...
</robot>property
<xacro:property name="xxxx" value="yyyy" />macro
Define a macro,
<xacro:macro name="my_macro" params="param1 param2 ...">
...
</xacro:macro>Call macro,
<xacro:my_macro param1=xxx param2=xxx .../>include
<xacro:include filename="test.xacro" />