Place XML comments in front of xacro commands

... to hide them in the final URDF
frankaemika · Oct 27, 2021 · d7792d8 · d7792d8
1 parent 5332b61
commit d7792d8
Showing 1 changed file with 10 additions and 5 deletions.
diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,11 +1,16 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
-  <xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
-  <xacro:arg name="hand"   default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
-  <xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->
-  <xacro:arg name="gazebo_ns" default="$(arg arm_id)" /> <!-- Namespace of robot in Gazebo -->
-  <xacro:arg name="transmission" default="hardware_interface/EffortJointInterface" /> <!-- The transmission that is used in the gazebo joints -->
+  <!-- Name of this panda -->
+  <xacro:arg name="arm_id" default="panda" />
+  <!-- Should a franka_gripper be mounted at the flange?" -->
+  <xacro:arg name="hand" default="false" />
+  <!-- Is the robot being simulated in gazebo?" -->
+  <xacro:arg name="gazebo" default="false" />
+  <!-- Namespace of robot in Gazebo -->
+  <xacro:arg name="gazebo_ns" default="$(arg arm_id)" />
+  <!-- The transmission that is used in the gazebo joints -->
+  <xacro:arg name="transmission" default="hardware_interface/EffortJointInterface" />
 
   <xacro:unless value="$(arg gazebo)">
     <!-- Create a URDF for a real hardware -->