Merge remote-tracking branch 'origin/ros2' into mjcarroll/bazel

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -27,7 +27,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 7.1.1
     hooks:
       - id: flake8
         args:

CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package xacro
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.12 (2025-01-08)
+-------------------
+* Python 3.13 introduced new attr argument to _write_data (`#353 <https://github.com/ros/xacro/issues/353>`_)
+* pyproject.toml: Automatically determine version from git
+* Add function python.vars() (`#348 <https://github.com/ros/xacro/issues/348>`_)
+* Contributors: Robert Haschke
+
 2.0.11 (2024-04-02)
 -------------------
 * Allow substitution args without ROS (`#340 <https://github.com/ros/xacro/issues/340>`_)

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>xacro</name>
-  <version>2.0.11</version>
+  <version>2.0.12</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>

xacro/__init__.py

@@ -214,7 +214,7 @@ def expose(*args, **kwargs):
     # Expose all builtin symbols into the python namespace. Thus the stay accessible if the global symbol was overriden
     expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'True', 'False', 'min', 'max', 'round',
            'abs', 'all', 'any', 'complex', 'divmod', 'enumerate', 'filter', 'frozenset', 'hash', 'isinstance', 'issubclass',
-           'ord', 'repr', 'reversed', 'slice', 'set', 'sum', 'tuple', 'type', 'zip', source=__builtins__, ns='python')
+           'ord', 'repr', 'reversed', 'slice', 'set', 'sum', 'tuple', 'type', 'vars', 'zip', source=__builtins__, ns='python')
 
     # Expose all math symbols and functions into namespace math (and directly for backwards compatibility -- w/o deprecation)
     expose([(k, v) for k, v in math.__dict__.items() if not k.startswith('_')], ns='math', deprecate_msg='')

xacro/xmlutils.py

@@ -106,6 +106,13 @@ def reqd_attrs(tag, attrs):
             raise RuntimeError("%s: missing attribute '%s'" % (tag.nodeName, name))
     return result
 
+# Python 3.13 introduced a new argument to xml.dom.minidom._write_data
+# https://github.com/ros/xacro/issues/352
+_WRITE_DATA_EXTRA_KWARGS = dict(attr=True)
+try:
+    xml.dom.minidom._write_data(None, None, attr=True)
+except TypeError:
+    _WRITE_DATA_EXTRA_KWARGS = {}
 
 # Better pretty printing of xml
 # Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/
@@ -120,7 +127,7 @@ def fixed_writexml(self, writer, indent="", addindent="", newl=""):
 
     for a_name in a_names:
         writer.write(" %s=\"" % a_name)
-        xml.dom.minidom._write_data(writer, attrs[a_name].value)
+        xml.dom.minidom._write_data(writer, attrs[a_name].value, **_WRITE_DATA_EXTRA_KWARGS)
         writer.write("\"")
     if self.childNodes:
         if len(self.childNodes) == 1 \