xacro 0.1.3

A xml preprocessor for xacro files to generate URDF files
Documentation 
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <link name="base_link">
        <visual>
            <geometry>
                <cylinder length="0.6" radius="0.2"/>
            </geometry>
        </visual>
    </link>
</robot>