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Xacro porting to ROS2




As communicated with @codebot and @rhaschke, Our team at Persistent System is extending our help in porting xacro package to ROS2. Please let us know if anyone has any concern or any important information that we will help us in this this porting effort.




@codebot and @rhaschke

As @prasenjitdan has mentioned our interest in porting xacro package to ROS2,
We have started porting xacro code and test cases as per ROS2 guidelines to support ROS2 bouncy.
We want to share this development but there is no ROS2 development branch on
I have created github ticket to create ros2-devel branch.

Can anybody create ros2-devel branch so that we can raise PR against it.




@codebot and @rhaschke

I have ported xacro pcakge to ROS2 and it has passed all functional and cosmetic test cases.
Pull request is here:
It has also passed Travis CI build.

Could you please review it and give your feedback ?


Tested it on crystal release, its passing all functional and cosmetics test cases.