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Ok, I will explain myself better =). What you are attempting to do is parsing a Xacro file with URDF, this throws an error because the xacro file only contains instantiations and macros. Hence, if you provide only the xacro, the parsing node will throw an error since the URDF is not generated. You need to generate the URDF file from the Xacro (That will contain all links and joints properly set) in order to parse it with the node and give it as input to the node you are using.

As an alternative way to provide the URDF you can use a launch file calling xacro and in you parsing node, read from the robot_description parameter in the ROS parameter server.

This should do what you want:

rosrun xacro xacro -o ur3e_robot.urdf ur3e_robot.urdf.xacro

rosrun testbot_description parser /path/to/ur3e_robot.urdf