Correctly expose xml namespaces imported via xacro:include within a m…

…acro (#287)

Namespace declarations are lifted to the parent of the include node.
In case of a macro instantiation, this is a dummy node whose contents are kept
but which is removed itself.
Hence, before removing the dummy node, we need to lift any namespace definitions.

src/xacro/__init__.py

@@ -894,8 +894,11 @@ def handle_macro_call(node, macros, symbols):
 
     eval_all(body, macros, scoped)
 
-    # Replaces the macro node with the expansion
+    # Remove any comments directly before the macro call
     remove_previous_comments(node)
+    # Lift all namespace attributes from the expanded body node to node's parent
+    import_xml_namespaces(node.parentNode, body.attributes)
+    # Replaces the macro node with the expansion
     replace_node(node, by=body, content_only=True)
 
     macrostack.pop()

test/namespace.xml

@@ -0,0 +1 @@
+<a xmlns:xacro="http://www.ros.org/xacro" xmlns:b="http://www.ros.org/b" />

test/test_xacro.py

@@ -1157,6 +1157,17 @@ def test_error_reporting(self):
 '''.format(file="./raise.xacro" if self.in_order else "???")
             self.assertEqual(output, expected)
 
+    def test_xml_namespace_lifting(self):
+        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:a="http://www.ros.org/a">
+  <xacro:macro name="test">
+    <xacro:include filename="namespace.xml"></xacro:include>
+  </xacro:macro>
+  <xacro:test />
+</a>'''
+        res = '''<a xmlns:a="http://www.ros.org/a" xmlns:b="http://www.ros.org/b" />'''
+        self.assert_matches(self.quick_xacro(src), res)
+
+
 # test class for in-order processing
 class TestXacroInorder(TestXacro):
     def __init__(self, *args, **kwargs):