Crate xacro_rs 

Xacro processor in Rust.

xacro is an XML macro processor, that expands properties, macros, and conditionals. The crate provides core extensions by default (cwd, env); ROS-specific extensions are available via the builder when needed.

Quick Start

Process a xacro file:

let urdf = xacro_rs::process_file("robot.xacro")?;

Use process_string for string content. For more control (arguments, extensions, compatibility modes):

let processor = xacro_rs::XacroProcessor::builder()
    .with_arg("robot_name", "my_robot")
    .build();
let urdf = processor.run("robot.xacro")?;

Examples

See the examples/ directory for complete examples including:

• Basic file processing
• Processing from stdin
• Using arguments and the builder API
• ROS extensions and YAML support
• Generic XML macros (non-ROS usage)

Feature Flags

• yaml (default): Enable YAML loading with load_yaml()
• compat (default): Python Xacro compatibility mode.

Compatibility

This crate aims for feature parity with Python xacro. See the README for status and limitations.

Re-exports

pub use error::XacroError;

pub use processor::CompatMode;

pub use processor::XacroBuilder;

pub use processor::XacroProcessor;

Modules

error

extensions

Extension system for $(command args…) substitutions.

processor

Enums

PropertyScope

Where to define a property

Functions

process_file

Process a xacro file from the filesystem.

process_string

Process xacro content from a string.