"Infanterie greift an" by Rommel was more about extremely disciplined and high morale troops being led by an extremely lucky junior officer who was a master at exploiting weak spots of the enemy and to demoralize the enemy with surprise and superior positioning.

It was nice (I still don't believe that he really moved several companies at night through a gap only 50 m wide), but no theoretical masterpiece.
It certainly offered the promise of successful offense under certain circumstances to depressed infantry officers in the inter-war years.