URDF parsing error: 'Error reading Attributes. at line 72 in /../urdf_parser/src/model.cpp ERROR: Model Parsing the xml failed'
URDF:
<?xml version = "1.0"?>
<robot name = "two_wheeled_robot">
<link name = "chassis">
<visual>
<origin rpy = "0 0 0" xyz = "0 0 0.05"/>
<geometry>
<box size = "0.05 0.1 0.03"/>
</geometry>
</visual>
</link>
<link name = "right_wheel">
<visual>
<origin rpy = "0 0 0" xyz = "0.025 0 0.05"/>
<geometry>
<cylinder radius = "0.05" length = "0.01"/>
</geometry>
</visual>
</link>
<link name = "left_wheel">
<visual>
<origin rpy = "0 0 0" xyz = "-0.025 0 0.05"/>
<geometry>
<cylinder radius = "0.05" length = "0.01"/>
</geometry>
</visual>
</link>
<joint name = "c_to_rw" type = "revolute">
<parent link = "chassis"/>
<child link = "right_wheel"/>
<origin rpy = "0 0 0" xyz = "0.025 0 0.05"/>
<limit upper = "2" lower = "-2" effort = "0.1" velocity = "0.5"/>
<axis = "1 0 0"/>
</joint>
<joint name = "c_to_lw" type = "revolute">
<parent link = "chassis"/>
<child link = "left_wheel"/>
<origin rpy = "0 0 0" xyz = "-0.025 0 0.05"/>
<limit upper = "2" lower = "-2" effort = "0.1" velocity = "0.5"/>
<axis = "-1 0 0"/>
</joint>
</robot>