xacro.py is deprecated; please use xacro instead

[abdul-mannan-khan]

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Hi Again,

I am getting this problem. When I try to compile this chapter.

CMake Error at /home/khan/catkin_ws/devel/share/gazebo_plugins/cmake/gazebo_pluginsConfig.cmake:141 (message): Project 'seven_dof_arm_gazebo' tried to find library '-lpthread'.

Your kind suggestions would be highly appreciated and save lots of time. Thanks.

[qboticslabs]

Hi @u04617 Can you share the screenshots of the error? You can send to mail id: [email protected]

[abdul-mannan-khan]

Thank you very much. I am sorry for the late response. I have spent time on it again and I installed all possible packages for this chapter and now when I launch

roslaunch seven_dof_arm_bringup_moveit.launch

I get following error

Use the following script to fix incorrect usage:

 find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g
when processing file: /home/khan/catkin_ws/src/chapter_3_codes/mastering_ros_robot_description_pkg/urdf/seven_dof_arm.xacro

xacro.py is deprecated; please use xacro instead
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
    p.start()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 718, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 587, in _include_tag
    inc_filename = self.resolve_args(tag.attributes['file'].value, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: seven_dof_arm_config
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/khan/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share`

I shall appreciate your kind response to resolve this issue.

I have also sent you an email. Please help me resolve this. Thank you so much.

[qboticslabs]

Hi @u04617

Sorry for the trouble, it may be because of the transition from Indigo to Kinetic. I can check the issue tomorrow and get back to you. I didn't get your mail.

Mail id: [email protected]

[qboticslabs]

If you have problem with xacro, you can comment the following lines in

mastering_ros_robot_description_pkg/urdf/seven_dof_arm.xacro

Line 568,569 and 570

<xacro:base name="base"/> <xacro:arm parent="base"/> <xacro:gripper parent="tool"/>

[abdul-mannan-khan]

Dear qboticslabs,

Thank you for your kind response. I have tried after commenting those lines. It did not change anything. I still got the same response. Exactly similar to what I got in my last post.

I am very thankful to you for taking time from your busy routine and helping me out.

God Bless You.

[rk0dama]

you should do the command below to modify .xacro files in the directories: "urdf" and "urdf/sensors".

find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

and then, remove or comment out the following lines: Line 567-569

<xacro:base name="base"/>
<xacro:arm parent="base"/>
<xacro:gripper parent="tool"/>

after that, i could launch "view_arm.launch" in Kinetic.

[abdul-mannan-khan]

@rk0dama rk0dama,

Thank You for your kind response. There is no problem in launching view_arm_launch. The problem is with roslaunch seven_dof_arm_bringup_moveit.launch. I am still facing the same problem. Your kind input will be highly valuable. Thanks.

@qboticslabs

I have sent you an email. Sorry for sending you so late. I shall wait for your kind response.

Thank You

Regards, Dr. A. Mannan

[qboticslabs]

HI @u04617

Can you make a new moveit config package? The existing package is created before 1 year, it will be good if you can create a new package using setup assistance. The procedure is also mentioned in the mail