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xacro-macros

Generate parameterized URDF components using Xacro macros for ROS 2 robot models.

18|2|Updated Apr 20, 2026
Search Tags:#macros#xml#ros2#robotics#urdf#xacro#robot-modeling
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill xacro-macros
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: xacro-macros
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/xacro-macros
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill xacro-macros

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Xacro macros simplify URDF creation by enabling reusable templates, reducing duplication, and improving maintainability.

Core Features & Use Cases

  • Define reusable URDF components with properties, macros, and includes.
  • Compose complex robot descriptions from small, tested building blocks.
  • Apply to multi-robot projects to maintain consistent naming and structure.

Quick Start

Create a URDF using xacro macros by defining a few reusable macro blocks and then expanding them in your robot description.

Frequently Asked Questions about xacro-macros

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I reduce duplication in URDF files for ROS 2 robot models?▼

Xacro macros reduce URDF duplication by defining reusable templates with properties, conditionals, and includes, allowing you to compose complex robot descriptions from small, tested building blocks while maintaining consistent naming across multi-robot projects.

Can I parameterize robot parts in URDF using Xacro macros?▼

Xacro macros support parameterized robot parts in URDF by enabling you to define reusable components with properties and conditionals, allowing scalable macro-based URDFs across different robot configurations without rewriting XML.

What is the best way to compose complex URDF robot descriptions from smaller components?▼

The best way to compose complex URDF robot descriptions is using Xacro macros to build modular, tested building blocks. This approach improves maintainability and ensures consistent structure across scalable, multi-robot URDF configurations.

Does Xacro support conditionals and includes for scalable URDF generation?▼

Xacro supports conditionals and includes within URDF workflows, enabling scalable macro-based robot descriptions. These features allow you to apply parameterized blocks across multiple ROS 2 robot configurations while reducing XML duplication.

When do I need Xacro macros for robot modeling in ROS 2?▼

You need Xacro macros for robot modeling in ROS 2 when your URDF requires parameterized parts, reusable templates, or consistent naming across multiple configurations. Xacro reduces duplication and improves maintainability for scalable multi-robot projects.

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