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Thanks Martin for your answer.

I have a handmade urdf file,But I made a xacro file and I must have something wrong because it does not work. throw an error when you run this:

Could you help me ,please?

The error is:

"irojas@iri103:~$ roslaunch iri_wam_gazebo iri_wam_gazebo.launch ... logging to /home/irojas/.ros/log/752610e6-f58b-11e0-ac95-00219b18a57a/roslaunch-iri103-12665.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last): File "/opt/ros/electric/stacks/xacro/xacro.py", line 35, in <module> xacro.main() File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 558, in main eval_self_contained(doc) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 499, in eval_self_contained eval_all(doc.documentElement, macros, symbols) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all eval_all(body, macros, scoped) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 437, in eval_all eval_all(cloned, macros, symbols) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all eval_all(body, macros, scoped) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 451, in eval_all str(node.tagName)) xacro.XacroException: Some parameters were not set for macro visual Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/electric/stacks/xacro/xacro.py '/home/irojas/ros/iri-ros-pkg/trunk/stacks/iri_wam/iri_wam_description/xacro/wam.urdf.xacro'] returned with code [1].

Param xml is "

Thanks For All!!!

Thanks Martin for your answer.

I have a handmade urdf file,But I made a xacro file and I must have something wrong because it does not work. throw an error when you run this:

<param name="robot_description" coomand="$(find xacro)/xacro.py '$(find iri_wam_description)/ xacro/wam.urdf.xacro'"

Could you help me ,please?

The error is:

"irojas@iri103:~$

irojas@iri103:~$ roslaunch iri_wam_gazebo iri_wam_gazebo.launch  ... logging to /home/irojas/.ros/log/752610e6-f58b-11e0-ac95-00219b18a57a/roslaunch-iri103-12665.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

<1GB. Traceback (most recent call last): File "/opt/ros/electric/stacks/xacro/xacro.py", line 35, in <module> xacro.main() File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 558, in main eval_self_contained(doc) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 499, in eval_self_contained eval_all(doc.documentElement, macros, symbols) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all eval_all(body, macros, scoped) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 437, in eval_all eval_all(cloned, macros, symbols) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all eval_all(body, macros, scoped) File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 451, in eval_all str(node.tagName)) xacro.XacroException: Some parameters were not set for macro visual Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/electric/stacks/xacro/xacro.py '/home/irojas/ros/iri-ros-pkg/trunk/stacks/iri_wam/iri_wam_description/xacro/wam.urdf.xacro'] returned with code [1].

Param xml is "

<param command="$(find xacro)/xacro.py '$(find iri_wam_description)/xacro/wam.urdf.xacro'" name="robot_description"/>

Thanks For All!!!

Thanks Martin for your answer.

I have a handmade urdf file,But I made a xacro file and I must have something wrong because it does not work. throw an error when you run this:

<param name="robot_description" coomand="$(find xacro)/xacro.py '$(find iri_wam_description)/ xacro/wam.urdf.xacro'"

Could you help me ,please?

The error is:

irojas@iri103:~$ roslaunch iri_wam_gazebo iri_wam_gazebo.launch  ... logging to /home/irojas/.ros/log/752610e6-f58b-11e0-ac95-00219b18a57a/roslaunch-iri103-12665.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):   File "/opt/ros/electric/stacks/xacro/xacro.py", line 35, in <module>
    xacro.main()   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 558, in main
    eval_self_contained(doc)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 499, in eval_self_contained
    eval_all(doc.documentElement, macros, symbols)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all
    eval_all(body, macros, scoped)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 437, in eval_all
    eval_all(cloned, macros, symbols)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all
    eval_all(body, macros, scoped)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 451, in eval_all
    str(node.tagName)) xacro.XacroException: Some parameters were not set for macro visual  Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/electric/stacks/xacro/xacro.py '/home/irojas/ros/iri-ros-pkg/trunk/stacks/iri_wam/iri_wam_description/xacro/wam.urdf.xacro'] returned with code [1]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find iri_wam_description)/xacro/wam.urdf.xacro'" name="robot_description"/>

Thanks For All!!!