ERROR: Model Parsing the xml failed
i created a urdf file from xacro file. eventhough i got error i noticed the urdf has been created the following was the error i got.
redefining global symbol: pi
when processing file: /home/akash/project/src/techman_robot_ros-master/tm_grasp_description/urdf/tm700.urdf.xacro
included from: hrwros.xacro
akash@akash:~/project/src/tec
i have noticed the urdf file has been created so when I tried to run
check_urdf hrwros.urdf
and this is the urdf file
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from hrwros.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="hrwros">
<!-- world -->
<link name="world"/>
<!-- Links -->
<link name="world_interface"/>
<link name="workcell">
<visual>
<geometry>
<mesh filename="package://hrwros_support/meshes/workcell/visual/workcell.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://hrwros_support/meshes/workcell/collision/workcell.dae"/>
</geometry>
</collision>
<inertial>
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
<mass value="100"/>
</inertial>
</link>
<joint name="workcell_to_world_interface" type="fixed">
<parent link="world_interface"/>
<child link="workcell"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<joint name="robot1_pedestal_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.5 1.8 0.0"/>
<parent link="world_interface"/>
<child link="robot1_pedestal_link"/>
</joint>
<link name="robot1_pedestal_link">
<visual>
<origin xyz="0 0 0.475"/>
<geometry>
<box size="0.3 0.3 0.95"/>
</geometry>
<material name="pedestal_color">
<color rgba="0 0.156862745098 0.525490196078 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.475"/>
<geometry>
<box size="0.3 0.3 0.95"/>
</geometry>
</collision>
<inertial>
<mass value="500"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<gazebo reference="robot1_pedestal_link">
<material>Gazebo/Blue</material>
</gazebo>
<transmission name="robot1_shoulder_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_shoulder_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_shoulder_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robot1_shoulder_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_shoulder_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_shoulder_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robot1_elbow_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_elbow_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_elbow_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robot1_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robot1_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robot1_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robot1_wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robot1_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
< ...