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It's getting the root_name from the node parameter server, try to load the parameter like this (replace arm_kinematics by the arm_kinematics node name):

rosparam set arm_kinematics/robot_description /home/wouter/ros_packages/urdf_tools/urdf_tutorials/01-myfirst.urdf

By the way, you should have at least to links and 1 joint in your model. The root_name should be a link (e.g. "base_link") and the tip_name another link.

Hope this help