Failed to build tree: child link [base_link] of joint [world_joint] not found

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Hi all hope all of you are fine.

I am using this git: https://github.com/lihuang3/ur5_ROS-G...

I was following the steps in this git and i came across this error:

Failed to build tree: child link [base_link] of joint [world_joint] not found

this is the ur5_joint_limited_robot.urdf.xacro I have: a bit modified

<robot <a="" href="http://xmlns:xacro="http://wiki.ros.org/xacro">xmlns:xacro="http://wiki.ros.org/xacro" name="ur5" ><="" p=""> </robot>

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro"/>

<xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro"/>

<xacro:macro name="ur5_robot" params="prefix joint_limited shoulder_pan_lower_limit=${-2*pi} shoulder_pan_upper_limit=${2*pi} shoulder_lift_lower_limit=${-pi} shoulder_lift_upper_limit=${pi} elbow_joint_lower_limit=${-pi} elbow_joint_upper_limit=${pi} wrist_1_lower_limit=${-pi} wrist_1_upper_limit=${pi} wrist_2_lower_limit=${-pi} wrist_2_upper_limit=${pi} wrist_3_lower_limit=${-pi} wrist_3_upper_limit=${pi} transmission_hw_interface"/> <link name="world"/>

<joint name="world_joint" type="fixed"> <parent link="world"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> </joint> </robot>

This file includes ur5.urdf.xacro which has the child link "base_link", shouldn't there be any reference to that link in some way? As far as I know.

this is the lunch file i am using:

<launch>

<arg name="limited" default="true"/> <arg name="paused" default="false"/> <arg name="gui" default="true"/> <arg name="debug" default="false"/> <arg name="sim" default="true"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" default="worlds/empty.world"/> <arg name="paused" value="$(arg paused)"/> <arg name="gui" value="$(arg gui)"/> </include>

<include file="$(find ur_description)/launch/ur5_upload.launch"> <arg name="limited" value="$(arg limited)"/> </include>

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.2 -y 0.7" respawn="false" output="screen"/>

<include file="$(find ur_gazebo)/launch/controller_utils.launch"/>

<rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>

<remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>

<include file="$(find ur5_moveit_config)/launch/move_group.launch"> <arg name="limited" default="$(arg limited)"/> <arg name="debug" default="$(arg debug)"/> </include>

<node name="spawn_conveyor_belt" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/conveyor_belt.urdf -urdf -model conveyor_belt"/> <node name="bin" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/bin.urdf -urdf -model bin -y 0.8 -x -0.5 -z 0.05"/> <node name="blocks_spawner" pkg="ur5_notebook" type="blocks_spawner" output="screen"/>

<node name="blocks_poses_publisher" pkg="ur5_notebook" type="blocks_poses_publisher" output="screen"/>

<node name="ur5_vision" pkg="ur5_notebook" type="ur5_vision.py" output="screen"/> <node name="ur5_mp" pkg="ur5_notebook" type="ur5_mp.py" output="screen"/> <node name="ur5_gripper" pkg="ur5_notebook" type="ur5_gripper.py" output="screen"/>

</launch>

this file references ur5_upload.launch which is as follows:

<launch> <arg ... (more)