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Allow expressions in comments #300

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merged 1 commit into from Dec 29, 2021
Merged

Allow expressions in comments #300

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3 changes: 1 addition & 2 deletions src/xacro/__init__.py
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Expand Up @@ -1098,8 +1098,7 @@ def eval_all(node, macros, symbols):

eval_all(node, macros, symbols)

# TODO: Also evaluate content of COMMENT_NODEs?
elif node.nodeType == xml.dom.Node.TEXT_NODE:
elif node.nodeType == xml.dom.Node.TEXT_NODE or node.nodeType == xml.dom.Node.COMMENT_NODE:
node.data = unicode(eval_text(node.data, symbols))

node = next
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1 change: 0 additions & 1 deletion test/robots/pr2/gripper_v0/gripper.gazebo.xacro
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Expand Up @@ -29,7 +29,6 @@
<mu2 value="${finger_mu}" />
<kp value="1000000.0" />
<kd value="1.0" />
<!-- for "${prefix}_l_finger_joint"-->
</gazebo>
<gazebo reference="${prefix}_l_finger_joint">
<stopKd value="${finger_stop_kd}" />
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6 changes: 0 additions & 6 deletions test/robots/pr2/pr2_1.11.4.xml
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Expand Up @@ -1450,10 +1450,6 @@
</geometry>
</collision>
</link>
<!-- plugin for updating structure pose \
<xacro:kinect_prosilica_gazebo joint_name="${name}_kinect_prosilica_joint"
link_name="${name}_kinect_prosilica_link" />
-->
<!-- kinect ir sensor physical attachment -->
<joint name="head_mount_kinect_ir_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.032267 0.0125 0.136453"/>
Expand Down Expand Up @@ -2450,7 +2446,6 @@
<mu2 value="500.0"/>
<kp value="1000000.0"/>
<kd value="1.0"/>
<!-- for "${prefix}_l_finger_joint"-->
</gazebo>
<gazebo reference="r_gripper_l_finger_joint">
<stopKd value="1.0"/>
Expand Down Expand Up @@ -3383,7 +3378,6 @@
<mu2 value="500.0"/>
<kp value="1000000.0"/>
<kd value="1.0"/>
<!-- for "${prefix}_l_finger_joint"-->
</gazebo>
<gazebo reference="l_gripper_l_finger_joint">
<stopKd value="1.0"/>
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5 changes: 0 additions & 5 deletions test/robots/pr2/sensors/kinect_prosilica_camera.urdf.xacro
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Expand Up @@ -43,11 +43,6 @@
</collision>
</link>

<!-- plugin for updating structure pose \
<xacro:kinect_prosilica_gazebo joint_name="${name}_kinect_prosilica_joint"
link_name="${name}_kinect_prosilica_link" />
-->

<!-- kinect ir sensor physical attachment -->
<joint name="${name}_kinect_ir_joint" type="fixed">
<origin xyz="-0.032267 0.0125 0.136453" rpy="0 0 0"/>
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7 changes: 7 additions & 0 deletions test/test_xacro.py
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Expand Up @@ -1223,6 +1223,13 @@ def test_xml_namespace_lifting(self):
res = '''<a xmlns:a="http://www.ros.org/a" xmlns:b="http://www.ros.org/b" />'''
self.assert_matches(self.quick_xacro(src), res)

def test_comments(self):
src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="name" value="foo"/>
<!-- ${name} --></a>'''
res = '''<a><!-- foo --></a>'''
self.assert_matches(self.quick_xacro(src), res)


# test class for in-order processing
class TestXacroInorder(TestXacro):
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