ROS Programming: Building Powerful Robots

Using constants

We use constants inside this xacro to make robot descriptions shorter and readable. Here, we define the degree to the radian conversion factor, PI value, length, height, and width of each of the links:

  <property name="deg_to_rad" value="0.01745329251994329577"/> 
  <property name="M_PI" value="3.14159"/> 
 
  <property name="elbow_pitch_len" value="0.22" /> 
  <property name="elbow_pitch_width" value="0.04" /> 
  <property name="elbow_pitch_height" value="0.04" />