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The answer you've posted is actually not the answer.

Those files are used by thousands of people and they are correct as-is.

The cause of your problem is that you've selected the wrong file to load.

Instead of loading ur10e.urdf.xacro, you should load the ur10e_robot.urdf.xacro file.

The former only defines the macro, but doesn't instantiate it. The latter is a top-level xacro that includes the appropriate files and then also instantiates the model.

Loading a file that only defines a macro will result in an empty file after the MSA tries to load it, hence the error.