SolidWorks URDF to Xacro

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Hey guys,

I am new to gazebo and Rviz and I am struggling with something.
I exported my robots base via SolidWorks using URDF tool. Now I want to mount 2 UR5's into my base. I want to take it a step at a time so I wanted to start off by mounting just 1 arm.

The issue I am having is when trying to combine the URDF (robot base) file to the xacro (UR5) because based on what I learned I have to link them in the xacro itself Then the xacro file will be converted to URDF in the launch file.

I downloaded and saved the the Universal Robot Package to my environment and edited based on some information I found. My code is as follows:

ur5.launch:

<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints."/>
<arg name="paused" default="false" doc="Starts gazebo in paused mode"/>
<arg name="gui" default="true" doc="Starts gazebo gui"/>
<!-- startup simulated world -->
<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="$(arg gui)"/>
</include>
<!-- send robot urdf to param server -->
<include file="$(find foo)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!--
 push robot_description to factory and spawn robot in gazebo 
-->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen"/>
<include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
<!-- start this controller -->
<rosparam file="$(find foo)/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"/>
<!-- load other controllers -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller"/>
</launch>

ur5_upload.launch:

<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints."/>
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find foo)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"/>
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find foo)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"/>
</launch>

ur5_robot.urdf.xacro:

<robot name="ur5">
<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
<!-- common stuff -->
<xacro:include filename="$(find foo)/urdf/common.gazebo.xacro"/>
<!-- ur5 -->
<xacro:include filename="$(find foo)/urdf/ur5.urdf.xacro"/>
<xacro:include filename="$(find foo)/urdf/ur5_table.urdf.xacro"/>
<!-- arm -->
<xacro:ur5_robot prefix="" joint_limited="false" transmission_hw_interface="$(arg transmission_hw_interface)"/>

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

Table(Robot Base):

<robot
  name="foo ...