### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/__README

Detailed reference for the xacro Python package, outlining its structure, submodules, and the various classes and functions available for programmatic interaction. This section serves as a comprehensive guide to the xacro library's public interface.

```APIDOC
xacro package
  Submodules:
    xacro.cli module
    xacro.color module
    xacro.substitution_args module
    xacro.xmlutils module
  Module contents:
    Classes:
      ConstructUnits
      Macro
      NameSpace
      QuickLexer
      Table
      XacroException
      YamlDictWrapper
      YamlListWrapper
    Functions:
      abs_filename_spec()
      check_attrs()
      create_global_symbols()
      eval_all()
      eval_default_arg()
      eval_extension()
      eval_text()
      get_boolean_value()
      get_include_files()
      grab_macro()
      grab_property()
      handle_dynamic_macro_call()
      handle_macro_call()
      import_xml_namespaces()
      init_stacks()
      is_valid_name()
      load_yaml()
      main()
      open_output()
      parse()
      parse_macro_arg()
      print_location()
      process()
      process_doc()
      process_file()
      process_include()
      remove_previous_comments()
      resolve_macro()
      safe_eval()
      tokenize()
```

--------------------------------

### Get first child element of XML node

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

Retrieves the first child element of a given XML DOM node. This function helps in traversing the XML tree structure.

```APIDOC
xacro.xmlutils.first_child_element(elt: xml.dom.Node)
```

--------------------------------

### Get next sibling element of XML node

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

Retrieves the next sibling element of a given XML DOM node. This function is useful for sequential navigation through sibling nodes in the XML tree.

```APIDOC
xacro.xmlutils.next_sibling_element(node: xml.dom.Node)
```

--------------------------------

### xacro.init_stacks API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.init_stacks function.

```APIDOC
xacro.init_stacks(file)
```

--------------------------------

### xacro.cli Module API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro.cli

Comprehensive API documentation for classes and functions within the `xacro.cli` module, including their signatures, inheritance, parameters, return types, and descriptions where available.

```APIDOC
class xacro.cli.ColoredOptionParser(usage=None, option_list=None, option_class=<class 'optparse.Option'>, version=None, conflict_handler='error', description=None, formatter=None, add_help_option=True, prog=None, epilog=None)
  Bases: OptionParser

  error(msg: string)
    Description: Print a usage message incorporating ‘msg’ to stderr and exit. If you override this in a subclass, it should not return – it should either exit or raise an exception.
```

```APIDOC
class xacro.cli.IndentedHelpFormatterWithNL(*args, **kwargs)
  Bases: IndentedHelpFormatter

  format_option(text)
```

```APIDOC
xacro.cli.load_mappings(argv)
  Description: Load name mappings encoded in command-line arguments. This will filter out any parameter assignment mappings.
  Parameters:
    argv: command-line arguments (type: [str])
  Returns:
    name->name remappings. (type: dict {str: str})
```

```APIDOC
xacro.cli.process_args(argv, require_input=True)
```

```APIDOC
xacro.cli.wrap_with_newlines(text, width, **kwargs)
```

--------------------------------

### Python API Reference for xacro Package

Source: https://docs.ros.org/en/humble/p/xacro/xacro.substitution_args

Comprehensive listing of modules, classes, and functions available within the `xacro` Python package, detailing its structure and callable elements. This section serves as a quick reference for developers using the `xacro` library.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli module
    - xacro.color module
    - xacro.substitution_args module
    - xacro.xmlutils module
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro.main API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.main function.

```APIDOC
xacro.main()
```

--------------------------------

### xacro.open_output API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.open_output function.

```APIDOC
xacro.open_output(output_filename)
```

--------------------------------

### xacro.color Module API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro.color

Detailed API documentation for the `xacro.color` module, including functions for coloring messages, handling errors and warnings, displaying general messages, and checking if a stream is a TTY.

```APIDOC
xacro.color module:
  xacro.color.colorize(msg, color, file=<_io.TextIOWrapper name='<stderr>' mode='w' encoding='utf-8'>, alt_text=None)
    msg: The message string to colorize.
    color: The color to apply to the message.
    file: The file-like object to write the colored message to (defaults to stderr).
    alt_text: An alternative text string to display if coloring is not possible or desired.
  xacro.color.error(*args, **kwargs)
    args: Positional arguments to be passed to the underlying message function.
    kwargs: Keyword arguments to be passed to the underlying message function.
  xacro.color.is_tty(stream)
    stream: The stream object to check for TTY status.
    Returns: True if the given stream is a TTY (interactive terminal), otherwise False.
  xacro.color.message(msg, *args, **kwargs)
    msg: The primary message string to display.
    args: Additional positional arguments to include in the message.
    kwargs: Additional keyword arguments to include in the message.
  xacro.color.warning(*args, **kwargs)
    args: Positional arguments to be passed to the underlying message function.
    kwargs: Keyword arguments to be passed to the underlying message function.
```

--------------------------------

### xacro Package API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Detailed API documentation for the `xacro` package, including its submodules and their respective classes and functions. This section outlines the callable methods and available classes within each module.

```APIDOC
xacro package
  Submodules:
    xacro.cli module:
      Classes:
        ColoredOptionParser:
          Methods:
            error()
        IndentedHelpFormatterWithNL:
          Methods:
            format_option()
      Functions:
        load_mappings()
        process_args()
        wrap_with_newlines()
    xacro.color module:
      Functions:
        colorize()
        error()
        is_tty()
        message()
        warning()
    xacro.substitution_args module:
      Exceptions:
        ArgException
        SubstitutionException
      Functions:
        convert_value()
        resolve_args()
    xacro.xmlutils module:
      Functions:
        attribute()
        first_child_element()
        fixed_writexml()
        next_sibling_element()
        opt_attrs()
        replace_node()
        reqd_attrs()
```

--------------------------------

### xacro.process_include API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.process_include function.

```APIDOC
xacro.process_include(elt, macros, symbols, func)
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro.color

Detailed API documentation for the core `xacro` Python package, outlining its main classes and functions. This section provides a high-level view of the programmatic interfaces available for interacting with xacro functionalities.

```APIDOC
xacro package:
  Submodules:
    xacro.cli
    xacro.color
    xacro.substitution_args
    xacro.xmlutils

  Module contents (xacro):
    Classes:
      ConstructUnits
      Macro
      NameSpace
      QuickLexer
      Table
      XacroException
      YamlDictWrapper
      YamlListWrapper

    Functions:
      abs_filename_spec()
      check_attrs()
      create_global_symbols()
      eval_all()
      eval_default_arg()
      eval_extension()
      eval_text()
      get_boolean_value()
      get_include_files()
      grab_macro()
      grab_property()
      handle_dynamic_macro_call()
      handle_macro_call()
      import_xml_namespaces()
      init_stacks()
      is_valid_name()
      load_yaml()
      main()
      open_output()
      parse()
      parse_macro_arg()
      print_location()
      process()
      process_doc()
      process_file()
      process_include()
      remove_previous_comments()
      resolve_macro()
      safe_eval()
      tokenize()
```

--------------------------------

### xacro Module Classes and Functions API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Comprehensive API documentation for the `xacro` module, including class definitions, their inheritance, methods, attributes, and descriptions for various utility functions. This covers functionalities from unit construction to XML attribute checking and macro evaluation.

```APIDOC
class xacro.ConstructUnits(value)
  Bases: Enum
  Description: utility enumeration to construct a values with a unit from yaml
  Attributes:
    angle_degrees = ('!degrees', 0.017453292519943295)
    angle_radians = ('!radians', 1.0)
    length_foot = ('!foot', 0.3048)
    length_inches = ('!inches', 0.0254)
    length_meters = ('!meters', 1.0)
    length_millimeters = ('!millimeters', 0.001)
  Methods:
    constructor(loader, node)
      Description: utility function to construct a values with a unit from yaml

class xacro.Macro
  Bases: object

class xacro.NameSpace(parent=None)
  Bases: xacro.Table

class xacro.QuickLexer(*args, **kwargs)
  Bases: object
  Methods:
    lex(str)
    next()
    peek()

class xacro.Table(parent=None)
  Bases: dict
  Methods:
    top()

exception xacro.XacroException(msg=None, suffix=None, exc=None, macro=None)
  Bases: Exception
  Description: XacroException allows to wrap another exception (exc) and to augment its error message: prefixing with msg and suffixing with suffix. str(e) finally prints: msg str(exc) suffix

class xacro.YamlDictWrapper
  Bases: dict
  Description: Wrapper class providing dotted access to dict items

class xacro.YamlListWrapper(iterable=(), /)
  Bases: list
  Description: Wrapper class for yaml lists to allow recursive inheritance of wrapper property
  Static Methods:
    wrap(item)
      Description: This static method, used by both YamlListWrapper and YamlDictWrapper, dispatches to the correct wrapper class depending on the type of yaml item

function xacro.abs_filename_spec(filename_spec)
  Description: Prepend the dirname of the currently processed file if filename_spec is not yet absolute

function xacro.check_attrs(tag, required, optional)
  Description: Helper routine to fetch required and optional attributes and complain about any additional attributes.
  Parameters:
    tag (xml.dom.Element): DOM element node
    required [str]: list of required attributes
    optional [str]: list of optional attributes

function xacro.create_global_symbols()

function xacro.eval_all(node, macros, symbols)
  Description: Recursively evaluate node, expanding macros, replacing properties, and evaluating expressions

function xacro.eval_default_arg(forward_variable, default, symbols, macro)

function xacro.eval_extension(s)

function xacro.eval_text(text, symbols)

function xacro.get_boolean_value(value, condition)
  Description: Return a boolean value that corresponds to the given Xacro condition value. Values “true”, “1” and “1.0” are supposed to be True. Values “false”, “0” and “0.0” are supposed to be False. All other values raise an exception.
  Parameters:
    value: The value to be evaluated. The value has to already be evaluated by Xacro.
    condition: The original condition text in the XML.
  Returns:
    The corresponding boolean value, or a Python expression that, converted to boolean, corresponds to it.
  Raises:
    ValueError: If the condition value is incorrect.

function xacro.get_include_files(filename_spec, symbols)

function xacro.grab_macro(elt, macros)

function xacro.grab_property(elt, table)
```

--------------------------------

### xacro.load_yaml API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.load_yaml function.

```APIDOC
xacro.load_yaml(filename)
```

--------------------------------

### xacro.handle_macro_call API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.handle_macro_call function.

```APIDOC
xacro.handle_macro_call(node, macros, symbols)
```

--------------------------------

### xacro.tokenize API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.tokenize function.

```APIDOC
xacro.tokenize(s, sep=',; ', skip_empty=True)
```

--------------------------------

### xacro.handle_dynamic_macro_call API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.handle_dynamic_macro_call function.

```APIDOC
xacro.handle_dynamic_macro_call(node, macros, symbols)
```

--------------------------------

### xacro.process_doc API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.process_doc function.

```APIDOC
xacro.process_doc(doc, mappings=None, **kwargs)
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro.cli

This section provides a detailed reference for the `xacro` Python package, outlining its structure, submodules, and the various classes and functions available for use in xacro processing.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli module
    - xacro.color module
    - xacro.substitution_args module
    - xacro.xmlutils module
  Module contents (xacro):
    - Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    - Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

This section outlines the Python API for the xacro package, including its submodules, core classes, and utility functions. It provides a structured overview of the programmatic interfaces available for interacting with xacro functionalities.

```Python
xacro package:
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### Xacro Project API Reference Index

Source: https://docs.ros.org/en/humble/p/xacro/genindex

A comprehensive, alphabetically organized list of all public API elements within the `xacro` Python project, including classes, methods, modules, and exceptions. Each entry points to its detailed documentation.

```APIDOC
Xacro Project API Index:
  Classes:
    xacro.NameSpace
    xacro.QuickLexer
    xacro.Table
    xacro.YamlDictWrapper
    xacro.YamlListWrapper
  Methods:
    xacro.QuickLexer.next()
    xacro.xmlutils.next_sibling_element()
    xacro.open_output()
    xacro.xmlutils.opt_attrs()
    xacro.parse()
    xacro.parse_macro_arg()
    xacro.QuickLexer.peek()
    xacro.print_location()
    xacro.process()
    xacro.cli.process_args()
    xacro.process_doc()
    xacro.process_file()
    xacro.process_include()
    xacro.remove_previous_comments()
    xacro.xmlutils.replace_node()
    xacro.xmlutils.reqd_attrs()
    xacro.substitution_args.resolve_args()
    xacro.resolve_macro()
    xacro.safe_eval()
    xacro.Table.top()
    xacro.tokenize()
    xacro.color.warning()
    xacro.YamlListWrapper.wrap() (static method)
    xacro.cli.wrap_with_newlines()
  Modules:
    xacro
    xacro.cli
    xacro.color
    xacro.substitution_args
    xacro.xmlutils
  Exceptions:
    xacro.SubstitutionException
    xacro.XacroException
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/__LICENSE

Detailed API documentation for the 'xacro' Python package, outlining its submodules, classes, and functions. This section serves as a reference for developers interacting with the xacro library programmatically.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/index

Detailed reference for the xacro Python package, outlining its submodules, classes, and functions available for programmatic interaction. This section provides a structured view of the core utilities for XML processing and macro handling within the xacro library.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents (xacro):
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/__PACKAGE

This section outlines the structure of the xacro Python package API, listing its submodules, classes, and functions. It serves as a quick reference for developers interacting with the xacro library programmatically.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/genindex

Detailed reference for the xacro Python package, listing its submodules, classes, and functions available for programmatic use.

```APIDOC
xacro package
  Submodules:
    xacro.cli
    xacro.color
    xacro.substitution_args
    xacro.xmlutils
  Module contents:
    Classes:
      ConstructUnits
      Macro
      NameSpace
      QuickLexer
      Table
      XacroException
      YamlDictWrapper
      YamlListWrapper
    Functions:
      abs_filename_spec()
      check_attrs()
      create_global_symbols()
      eval_all()
      eval_default_arg()
      eval_extension()
      eval_text()
      get_boolean_value()
      get_include_files()
      grab_macro()
      grab_property()
      handle_dynamic_macro_call()
      handle_macro_call()
      import_xml_namespaces()
      init_stacks()
      is_valid_name()
      load_yaml()
      main()
      open_output()
      parse()
      parse_macro_arg()
      print_location()
      process()
      process_doc()
      process_file()
      process_include()
      remove_previous_comments()
      resolve_macro()
      safe_eval()
      tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/__CHANGELOG

This section provides a structured overview of the xacro Python package's API, listing its submodules, classes, and functions available for use. It serves as a quick reference for developers interacting with the xacro library programmatically.

```APIDOC
xacro package
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/xacro

This section outlines the structure of the xacro Python package API, listing its submodules, classes, and functions available for programmatic interaction. It provides a high-level overview of the package's exposed components.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli module
    - xacro.color module
    - xacro.substitution_args module
    - xacro.xmlutils module
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro Python Package API Reference

Source: https://docs.ros.org/en/humble/p/xacro/modules

A comprehensive reference for the xacro Python package, detailing its modules, classes, and functions for XML macro expansion in ROS.

```APIDOC
xacro package:
  Submodules:
    xacro.cli module:
      Classes:
        ColoredOptionParser
        IndentedHelpFormatterWithNL
      Functions:
        load_mappings()
        process_args()
        wrap_with_newlines()
    xacro.color module:
      Functions:
        colorize()
        error()
        is_tty()
        message()
        warning()
    xacro.substitution_args module:
      Exceptions:
        ArgException
        SubstitutionException
      Functions:
        convert_value()
        resolve_args()
    xacro.xmlutils module:
      Functions:
        attribute()
        first_child_element()
        fixed_writexml()
        next_sibling_element()
        opt_attrs()
        replace_node()
        reqd_attrs()
  Module contents (xacro):
    Classes:
      ConstructUnits:
        Attributes:
          angle_degrees
          angle_radians
          length_foot
          length_inches
          length_meters
          length_millimeters
        Methods:
          constructor()
      Macro
      NameSpace
      QuickLexer:
        Methods:
          lex()
          next()
          peek()
      Table:
        Methods:
          top()
      XacroException
      YamlDictWrapper
      YamlListWrapper:
        Methods:
          wrap()
    Functions:
      abs_filename_spec()
      check_attrs()
      create_global_symbols()
      eval_all()
      eval_default_arg()
      eval_extension()
      eval_text()
      get_boolean_value()
      get_include_files()
      grab_macro()
      grab_property()
      handle_dynamic_macro_call()
      handle_macro_call()
      import_xml_namespaces()
      init_stacks()
      is_valid_name()
      load_yaml()
      main()
      open_output()
      parse()
      parse_macro_arg()
      print_location()
      process()
      process_doc()
      process_file()
      process_include()
      remove_previous_comments()
      resolve_macro()
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro

This section outlines the main modules, classes, and functions available within the `xacro` Python package, providing a high-level overview of its programmatic interface for extending ROS XML macros.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli module
    - xacro.color module
    - xacro.substitution_args module
    - xacro.xmlutils module
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### Xacro ROS Package Definition (package.xml)

Source: https://docs.ros.org/en/humble/p/xacro/__PACKAGE

This XML snippet defines the `package.xml` for the Xacro ROS package. It specifies essential metadata such as the package name, version, description, maintainers, license, and URLs. It also lists build tool dependencies (ament_cmake, ament_cmake_python), runtime dependencies (ament_index_python, python3-yaml), and test dependencies (ament_lint_auto, ament_cmake_pytest), along with the build type.

```xml
<?xml version="1.0"?>
<package format="2">
  <name>xacro</name>
  <version>2.0.13</version>
  <description>Xacro (XML Macros)
    Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.
  </description>

  <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
  <maintainer email="morgan@osrfoundation.org">Morgan Quigley</maintainer>

  <license>BSD</license>

  <url type="website">http://ros.org/wiki/xacro</url>
  <url type="repository">https://github.com/ros/xacro</url>
  <url type="bugtracker">https://github.com/ros/xacro/issues</url>

  <author>Stuart Glaser</author>
  <author>William Woodall</author>
  <author>Robert Haschke</author>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>ament_cmake_python</buildtool_depend>

  <depend>ament_index_python</depend>
  <depend>python3-yaml</depend>
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_cmake_pytest</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>
```

--------------------------------

### xacro.process_file API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Represents the main processing pipeline for xacro files.

```APIDOC
xacro.process_file(input_file_name, **kwargs)
  main processing pipeline
```

--------------------------------

### xacro.print_location API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.print_location function.

```APIDOC
xacro.print_location()
```

--------------------------------

### xacro.resolve_macro API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.resolve_macro function.

```APIDOC
xacro.resolve_macro(fullname, macros, symbols)
```

--------------------------------

### Xacro Project BSD 3-Clause License Text

Source: https://docs.ros.org/en/humble/p/xacro/__LICENSE

This code snippet contains the complete text of the BSD 3-Clause License, a permissive open-source license. It specifies the conditions under which the software can be redistributed and modified, emphasizing the retention of copyright notices, disclaimer of warranties, and limitation of liability.

```License
Copyright Robert Haschke, Bielefeld University

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
```

--------------------------------

### xacro.safe_eval API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

API documentation for the xacro.safe_eval function.

```APIDOC
xacro.safe_eval(expr, globals, locals=None)
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/__standards

This section provides a comprehensive reference for the xacro Python package, detailing its submodules, classes, and functions available for programmatic interaction. It outlines the structure of the API for developers.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli module
    - xacro.color module
    - xacro.substitution_args module
    - xacro.xmlutils module
  Module contents:
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### Xacro Python Module API Reference Index

Source: https://docs.ros.org/en/humble/p/xacro/genindex

This snippet provides a structured overview of the 'xacro' Python module's API, including its main modules, classes with their methods and attributes, and standalone functions. It's organized to reflect the hierarchical nature of the API.

```APIDOC
Modules:
  xacro
  xacro.cli
  xacro.color
  xacro.substitution_args
  xacro.xmlutils

Classes:
  xacro.ConstructUnits:
    Attributes:
      angle_degrees
      angle_radians
      length_foot
      length_inches
      length_meters
      length_millimeters
    Methods:
      constructor()
  xacro.cli.ColoredOptionParser:
    Methods:
      error()
  xacro.cli.IndentedHelpFormatterWithNL:
    Methods:
      format_option()
  xacro.Macro
  xacro.QuickLexer:
    Methods:
      lex()
  xacro.substitution_args.ArgException

Functions:
  xacro.abs_filename_spec()
  xacro.check_attrs()
  xacro.create_global_symbols()
  xacro.eval_all()
  xacro.eval_default_arg()
  xacro.eval_extension()
  xacro.eval_text()
  xacro.get_boolean_value()
  xacro.get_include_files()
  xacro.grab_macro()
  xacro.grab_property()
  xacro.handle_dynamic_macro_call()
  xacro.handle_macro_call()
  xacro.import_xml_namespaces()
  xacro.init_stacks()
  xacro.is_valid_name()
  xacro.load_yaml()
  xacro.main()
  xacro.substitution_args.convert_value()
  xacro.xmlutils.attribute()
  xacro.xmlutils.first_child_element()
  xacro.xmlutils.fixed_writexml()
  xacro.color.colorize()
  xacro.color.error()
  xacro.color.is_tty()
  xacro.color.message()
  xacro.cli.load_mappings()
```

--------------------------------

### xacro.process API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Processes an XML input file and returns the processed XML, designed for use within Python code.

```APIDOC
xacro.process(input_file_name, just_deps=False, xacro_ns=True, verbosity=1, mappings={})
  Function to be used from python code, returning the processed XML
```

--------------------------------

### xacro Python API Reference

Source: https://docs.ros.org/en/humble/p/xacro/modules

Detailed reference for the xacro Python package API, including its submodules, classes, and functions. This section outlines the programmatic interfaces available for interacting with xacro functionalities.

```APIDOC
xacro package:
  Submodules:
    - xacro.cli
    - xacro.color
    - xacro.substitution_args
    - xacro.xmlutils
  Module contents (xacro):
    Classes:
      - ConstructUnits
      - Macro
      - NameSpace
      - QuickLexer
      - Table
      - XacroException
      - YamlDictWrapper
      - YamlListWrapper
    Functions:
      - abs_filename_spec()
      - check_attrs()
      - create_global_symbols()
      - eval_all()
      - eval_default_arg()
      - eval_extension()
      - eval_text()
      - get_boolean_value()
      - get_include_files()
      - grab_macro()
      - grab_property()
      - handle_dynamic_macro_call()
      - handle_macro_call()
      - import_xml_namespaces()
      - init_stacks()
      - is_valid_name()
      - load_yaml()
      - main()
      - open_output()
      - parse()
      - parse_macro_arg()
      - print_location()
      - process()
      - process_doc()
      - process_file()
      - process_include()
      - remove_previous_comments()
      - resolve_macro()
      - safe_eval()
      - tokenize()
```

--------------------------------

### xacro.parse_macro_arg API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Parses the first parameter specification from a macro parameter string, supporting a specific syntax for default values and forward references.

```APIDOC
xacro.parse_macro_arg(s)
  parse the first param spec from a macro parameter string s
  accepting the following syntax: <param>[:=|=][^|]<default>
  Parameters:
    s: param spec string
  Returns:
    param, (forward, default), rest-of-string
    forward: will be either param or None (depending on whether ^ was specified)
    default: will be the default string or None
    If there is no default spec at all, the middle pair will be replaced by None
```

--------------------------------

### xacro.import_xml_namespaces API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Imports all namespace declarations into the parent element.

```APIDOC
xacro.import_xml_namespaces(parent, attributes)
  import all namespace declarations into parent
```

--------------------------------

### xacro.parse API Documentation

Source: https://docs.ros.org/en/humble/p/xacro/xacro

Parses input or a specified filename into a DOM tree. It handles various input types including strings, file objects, or existing DOM trees.

```APIDOC
xacro.parse(inp, filename=None)
  Parse input or filename into a DOM tree.
  If inp is None, open filename and load from there.
  Otherwise, parse inp, either as string or file object.
  If inp is already a DOM tree, this function is a noop.
  Parameters:
    inp: The input to parse (string, file object, or None)
    filename: Optional filename if inp is None
  Returns:
    xml.dom.minidom.Document
  Raises:
    xml.parsers.expat.ExpatError
```

--------------------------------

### xacro.substitution_args.resolve_args Function Definition

Source: https://docs.ros.org/en/humble/p/xacro/xacro.substitution_args

Resolves zero or more substitution arguments within a given string, adhering to the ROS wiki specification. It supports an optional context dictionary for 'arg' substitutions and returns the string with all arguments resolved. If the input string is None, it returns None. This function raises a `SubstitutionException` if any error occurs during the resolution process.

```APIDOC
xacro.substitution_args.resolve_args(arg_str, context=None, filename=None)
  Description: Resolve substitution args (see wiki spec U{<http://ros.org/wiki/roslaunch>}).
  Parameters:
    arg_str (str): string to resolve zero or more substitution args in. arg_str may be None, in which case resolve_args will return None
    context (dict, optional): dictionary for storing results of the 'arg' substitution args. If no context is provided, a new one will be created for each call. Values for the 'arg' context should be stored as a dictionary in the 'arg' key.
  Returns:
    str: arg_str with substitution args resolved
  Raises:
    SubstitutionException: if there is an error resolving substitution args
```

--------------------------------

### xacro.substitution_args.SubstitutionException Class Definition

Source: https://docs.ros.org/en/humble/p/xacro/xacro.substitution_args

This is the base class for all exceptions that may occur within the `substitution_args` routines. Other specific exceptions, like `ArgException`, inherit from this class.

```APIDOC
exception xacro.substitution_args.SubstitutionException
  Bases: Exception
  Description: Base class for exceptions in substitution_args routines.
```

--------------------------------

### Write XML with fixed formatting

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

A method for writing XML content with specified indentation and newline characters. This is likely an overridden or custom `writexml` method designed for consistent output.

```APIDOC
xacro.xmlutils.fixed_writexml(self, writer, indent='', addindent='', newl='')
```

--------------------------------

### xacro.substitution_args.ArgException Class Definition

Source: https://docs.ros.org/en/humble/p/xacro/xacro.substitution_args

Defines an exception specifically for cases where expected $(arg) values are missing during substitution argument processing. It inherits from `SubstitutionException`.

```APIDOC
exception xacro.substitution_args.ArgException
  Bases: SubstitutionException
  Description: Exception for missing $(arg) values.
```

--------------------------------

### Fetch optional attributes from XML tag

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

Helper routine for fetching a list of optional tag attributes from an XML DOM element node. It takes the tag and a list of attribute names, returning their values if present.

```APIDOC
xacro.xmlutils.opt_attrs(tag: xml.dom.Element, attrs: List[str])
  tag: DOM element node
  attrs: list of attributes to fetch
```

--------------------------------

### Fetch required attributes from XML tag

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

Helper routine for fetching a list of required tag attributes from an XML DOM element node. It takes the tag and a list of attribute names and raises a RuntimeError if any specified required attribute is missing.

```APIDOC
xacro.xmlutils.reqd_attrs(tag: xml.dom.Element, attrs: List[str]) -> Dict[str, str]
  tag: DOM element node
  attrs: list of attributes to fetch
  raise: RuntimeError if required attribute is missing
```

--------------------------------

### Replace an XML node

Source: https://docs.ros.org/en/humble/p/xacro/xacro.xmlutils

Replaces an existing XML DOM node with another node. An optional parameter allows replacing only the content of the node rather than the node itself.

```APIDOC
xacro.xmlutils.replace_node(node: xml.dom.Node, by: xml.dom.Node, content_only: bool = False)
```