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Despite being an old thread, this issue seems to be reappearing. I've spent quite a lot of time researching an answer, so I would like to leave a solution/workaround here. It should be noted that it's heavily based on Ari Kapusta's comment in the SW2URDF repository on Bitbucket.
In essence it seems that the automatic generation of joints fails without giving any warning or error. Luckily you can define the joints yourself and effectively skip this part of the process. You can refer to the original issue with a solution here or for more detailed information check my blog post where I've described the whole process in detail.
Hope this saves you the time and troubles.
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