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I tried converting it to a URDF file, but that left me with nothing but transmissions from ROS control

this suggests you tried to convert the wrong .xacro file. You have to convert a 'top-level' xacro (ie: the one instantiating all the macros), or it won't work.

It is explained that it is possible from URDF with the URDF_to_graphiz. However, it doesn't work with Xacro.

Well, yes. Xacro is not urdf. They somewhat relate to each other as classes and objects do in say C++: you have to create instances of your classes to get an object.

I tried converting it to a URDF file, but that left me with nothing but transmissions from ROS control

this suggests you tried to convert the wrong .xacro file. You have to convert a 'top-level' xacro (ie: the one instantiating all the macros), or it won't work.

If you can give a little more detail (which .xacro are you trying to convert, how did you do it, command line(s) etc), we might be able to help you.