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[..] (it passes
check_urdf
) [..] While when Iroslaunch display.launch
, things go wrong. [..]
There are various different xml parsers used in ROS, so one could be more lenient than another.
xml.parsers.expat.ExpatError: unclosed token: line 1, column 0
There seems to be something wrong with your urdf (more specifically, the xml making up your urdf) that joint_state_publisher
(more specifically: expat
) is not willing to ignore (but according to you, check_urdf
(which uses tinxyml
) apparently is).
You'll have to check the contents of zhuangpei_simplified.URDF
in a text editor, and make sure it's alright.
Without access to the urdf itself, I don't think we can be of any more help.