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Problem is fixed so im gonna close this. Thanks for your help.@gvdhoord

~~Problem is fixed so im gonna close this. Thanks for your help.@gvdhoord~~I found a solution. Went back to the previous code my co-worker made and there the urdf's are linked and everything works fine. I think my problem eventually was in the fact that i didnt have the tf static transform node running.

Can someone with enough karma close this?

I found a solution. Went back to the previous code my co-worker made and there the urdf's are linked and everything works fine. I think my problem eventually was in the fact that i didnt have the tf static transform node running.

Can someone with enough karma close this?

Edit: Okay so if you look at the ur10_robot.urdf.xacro, it includes the ur10.urdf.xacro, and then links the base to the world. My co-worker added the other urdf files below this and linked them directly in the urdf like this:

<xacro:include filename="$(find cam_desc)/urdf/camera_macro.xacro" />

<link name="world" />  

<!-- connects the UR10 arm to the world -->
<joint name="world_joint" type="fixed">
  <parent link="world" />
  <child link = "base_link" />
  <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>

<!-- connects the  camera to the UR10 arm -->
<joint name="cam_joint" type="fixed">
  <parent link="ee_link"/>
  <child link="mount_link"/>
  <origin xyz="0.0 -0.045 0.0" rpy="3.14 0.0 1.57" />
</joint>

Now the problem of the world joint that cannot be found in Rviz is also a bit more clear. As your thought, it wasn't because of the tf transform node. The reason was because i forgot to start the node that pubs robot state.

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