feat(xacro): building xacro from sensor calibation

aip_xx1_description/CMakeLists.txt

@@ -1,10 +1,35 @@
 cmake_minimum_required(VERSION 3.5)
 project(aip_xx1_description)
 
+
 find_package(ament_cmake_auto REQUIRED)
 
 ament_auto_find_build_dependencies()
 
+find_package(PythonInterp REQUIRED) # cspell: ignore Interp
+# Specify the path to your Python script
+set(PYTHON_SCRIPT "${CMAKE_CURRENT_SOURCE_DIR}/scripts/compile_xacro.py")
+set(PYTHON_TEMPLATE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/templates")
+set(PYTHON_CALIBRATION_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/config")
+set(PYTHON_XACRO_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/urdf")
+
+# Run the Python script
+execute_process(
+    COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_SCRIPT} ${PYTHON_TEMPLATE_DIRECTORY} ${PYTHON_CALIBRATION_DIRECTORY} ${PYTHON_XACRO_DIRECTORY} ${PROJECT_NAME}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    RESULT_VARIABLE result
+    OUTPUT_VARIABLE output
+    ERROR_VARIABLE error
+)
+# message(WARNING "Python script output: ${output}")
+
+if(NOT result EQUAL 0)
+    message(FATAL_ERROR "Python script failed with error: ${error}")
+else()
+    message(WARNING "Xacro Compiling Success")
+endif()
+
+
 ament_auto_package(INSTALL_TO_SHARE
     urdf
     config

aip_xx1_description/package.xml

@@ -8,6 +8,7 @@
   <license>Apache 2</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>python3-jinja2</buildtool_depend>
 
   <depend>velodyne_description</depend>