Installation and setup without ROS

[hubernikus]

I added a pyproject.toml and a requirements.txt file which enable ROS independent installation. I required this on my system to get it working, and use the xacro library to create URDF-models of robots.

Installation can then be done with:

pip install git+https://github.com/hubernikus/xacro.git@ros2

[c-rizz]

Hi, I was dealing with the same problem and tried your fork, however it still fails because of the ament_index_python import in xacro/substitution_args.py, which I think is not available on pypi. This could be mostly solved by moving the import inside _eval_find() at line 141. Then it would only fail if the import is actually needed.

[hubernikus]

Interesting that did not trigger for me.

But yes either moving it in the _eval_find() or put it in a try / except statement would resolve it.

[rhaschke]

substitution_args and thus ament_index_python are imported conditionally only when using substitution args:

xacro/xacro/__init__.py

Lines 287 to 292 in 7231b8b

	try:
	from .substitution_args import resolve_args, ArgException, PackageNotFoundError
	return resolve_args(s, context=substitution_args_context)
	except ImportError as e:
	raise XacroException("substitution args not supported: ", exc=e)
	except ArgException as e:

[rhaschke]

I cleaned your PR a little bit:

• requirements.txt is not needed as you already specify dependencies in pyproject.toml.
• fixed version information
• added console script generation