xacro conversion to urdf show parsing error even though check_urdf of xacro shows 'Successfully Parsed XML''

asked 2021-09-17 12:40:22 -0600

abhijelly
18 ●2 ●4 ●6

updated 2021-09-20 10:35:44 -0600

Ranjit Kathiriya
1624 ●18 ●148 ●46

I'm trying to convert xacro file to urdf. I am facing a conundrum in which check_urdf command shows a 'Successfully Parsed XML' output but xacro command to urdf shows 'Unclosed token'

check_urdf command image description

xacro command

image description

I think the error is syntactical but can anybody help me resolve it. I am relatively new to ROS and XML specifically.

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Please do not use links to screenshots of terminals. Instead, copy/paste the relevant text into your question and format it with the 101010 button. You can edit your question using the "edit" button at the bottom of your text.

Mike Scheutzow ( 2021-09-17 16:24:02 -0600 )edit

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answered 2021-09-19 16:26:24 -0600

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

updated 2021-09-20 06:48:25 -0600

These questions will help you #q10401 and #q203531 Remember to always check prior answers

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@osilva: could you please be a bit more specific about which answer of #q10401 solves @abhijelly's problem?

Right now this is essentially a link-only answer, which we should try to avoid.

gvdhoorn ( 2021-09-20 02:04:53 -0600 )edit

@gvdhoorn my point here was to search prior answers. #q203531 has similar issue and error described.

osilva ( 2021-09-20 06:46:39 -0600 )edit

The newly linked #q203531 seems to discuss the same error yes.

But #q10401 does not. It's a Q&A which discusses how to convert .xacro to .urdf.

gvdhoorn ( 2021-09-20 06:49:28 -0600 )edit

Thanks for the feedback. Glad you are monitoring as this ensures quality of responses.

osilva ( 2021-09-20 07:03:42 -0600 )edit

@gvdhoorn Error shown in my case is of unclosed token but I believe all the tags in my xacro code are closed hence upon checking the xacro using check_urdf, it successfully passes. So my question essentially is are there are any unclosed tags that I'm not able to see in my xacro code?

abhijelly ( 2021-09-20 09:30:59 -0600 )edit

I'm not sure why you are addressing me specifically.

@osilva provided you with an (initial) answer.

gvdhoorn ( 2021-09-20 09:38:53 -0600 )edit

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xacro conversion to urdf show parsing error even though check_urdf of xacro shows 'Successfully Parsed XML''

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xacro conversion to urdf show parsing error even though check_urdf of xacro shows 'Successfully Parsed XML''